KR20170103964A - Storage and retrieval system - Google Patents

Abstract

An automated storage and retrieval system (100) comprising at least one autonomous transport vehicle (110), a transfer deck (130B) forming a transport surface for the vehicle, at least one reciprocating lift And a first and a second pickface interface station connected to the deck and spaced apart from each other, wherein each station comprises a pickface transfer interfacing between the vehicle on the deck and the elevator at each station The pick face is transmitted between the reciprocating lift and the vehicle at each station and the vehicle picks up a first pick face at the first station and traverses the deck, Wherein the second station is configured to cushion the first pick face or at least a portion thereof, Order to the order of the graphical interface in accordance with the scan order has the output order of the plurality of graphical interface buffer on a common support.

Description

Storage and retrieval system

Cross reference of related applications

This application is a full filing of U.S. Provisional Patent Application No. 62 / 104,520 filed on January 16, 2015, which claims the benefit of this application, the disclosure of which is incorporated herein by reference in its entirety.

This application is also related to U.S. Patent Application No. 14 / 966,978, filed December 11, 2015; U.S. Patent Application No. 14 / 997,892, filed January 18, 2016; U.S. Patent Application No. 14 / 997,902, filed January 18, 2016; U.S. Patent Application No. 14 / 997,925, filed January 18, 2016; And U.S. Provisional Patent Application No. 62 / 107,135, filed on January 23, 2015, the disclosures of which are incorporated herein by reference in their entirety.

Exemplary embodiments of the present invention generally relate to material handling systems and, more particularly, to the transport and storage of articles within a material handling system.

Multilevel storage and retrieval systems can be used in warehouses for storage and retrieval of goods. Transportation of goods into and out of the storage structure is generally performed with a vehicle that moves a ramp to a predetermined storage layer and a lift to transport to a vehicle on a storage layer, and a lift that moves along a guide way. Goods stored in the storage and in- dustrial system are generally stored in a storage space on each storage layer, and a transport vehicle disposed in that layer accesses storage spaces in one layer. In general, elevators that transport goods to and from storage spaces and deliver vehicles between other storage layers may be integrated in the vehicle (e.g., with a gantry crane), or elevator loading lathes may be integrated into the vehicle (Hereinafter referred to as " paternoster ").

The case units output from the multilayer storage and retrieval system are delivered to a packaging station where the case units are placed on a pallet for delivery. Generally, the pallets include case units of similar size and shape, so that stable case layers are formed on the pallets, sometimes a paperboard is placed between the layers. In some cases, each layer of the steps of the pallet is separately formed and then placed on a pallet to form laminated steps. Generally, to form a pallet layer, the cases are placed in a buffer station or elsewhere in a palletizing station to measure the sizes of the cases. The computer or other processor determines the placement of the cases based on size and instructs the robot to pick the cases for placement in the pallet layer.

The present invention aims to provide an improved storage and retrieval system as compared to the prior art.

In order to increase the throughput of the storage and retrieval system, it may be advantageous to sort the case units for placement on the pallet during transport of the case units out of the storage structure of the storage and retrieval system.

BRIEF DESCRIPTION OF THE DRAWINGS The foregoing aspects and other features of the disclosed embodiments will be described with reference to the accompanying drawings in the following detailed description.
Figures 1 and 1a are schematic diagrams of an automated storage and retrieval system according to an embodiment of the disclosed embodiment;
1B, 1C, 1D and 1E are partial schematic diagrams of an automated storage and retrieval system according to an embodiment of the disclosed embodiment;
1F is a schematic view of a mixed pallet load formed by an automated storage and retrieval system according to an aspect of the disclosed embodiment;
FIG. 1G is a partial schematic view of an automated storage and retrieval system according to an aspect of the disclosed embodiment;
Figures 2a and 2b are partial schematic views of an automated storage and retrieval system according to an embodiment of the disclosed embodiment;
Figures 3a and 3b are partial schematic diagrams of an automated storage and retrieval system according to an embodiment of the disclosed embodiment;
Figures 4A, 4B and 5 are partial schematic views of an automated storage and retrieval system according to an aspect of the disclosed embodiment;
Figure 6 is a schematic view of a transport vehicle according to an embodiment of the disclosed embodiment;
Figure 6a is a schematic view of a transport vehicle according to an embodiment of the disclosed embodiment;
Figures 7 and 8 are partial schematic diagrams of a transport vehicle according to an embodiment of the disclosed embodiment;
9 is a partial schematic view of a storage and retrieval system according to an aspect of the disclosed embodiment;
Figures 10 and 10a-10e are partial schematic views of a transport vehicle according to an embodiment of the disclosed embodiment;
Figures 11-13 are partial schematic diagrams of a storage and retrieval system according to an aspect of the disclosed embodiment;
Figures 14-20 are illustrative flow charts in accordance with aspects of the disclosed embodiment;
Figures 21, 21a and 21b are partial schematic diagrams of an automated storage and retrieval system according to an embodiment of the disclosed embodiment;
23 is an exemplary flowchart according to an aspect of the disclosed embodiment;
24 is a partial schematic view of a storage and retrieval system according to an aspect of the disclosed embodiment;
25 is an exemplary flow chart in accordance with an aspect of the disclosed embodiment;
26 is a schematic diagram of an operator station of a storage and retrieval system according to an aspect of the disclosed embodiment;
Figure 27 is an exemplary flow chart in accordance with an aspect of the disclosed embodiment.

1 is a schematic diagram of an automated storage and retrieval system 100 in accordance with an aspect of the disclosed embodiment. While the forms of the disclosed embodiments will be described with reference to the drawings, it should be understood that the forms of the disclosed embodiments may be embodied in many forms. In addition, any suitable size, shape or type of components or materials may be used.

According to an aspect of the disclosed embodiment, the automated storage and retrieval system 100 is described, for example, in U.S. Patent Application No. 13 / 326,674, filed Dec. 15, 2011, the disclosure of which is incorporated herein by reference in its entirety As described in, for example, US Pat. No. 5,301,505, incorporated herein by reference). For example, the case unit is a unit of a case or article of merchandise that is not stored (e.g., not loaded) in a tray, tote, or pallet. In other examples, the case unit is a unit of a case or article of merchandise, for example, contained in any suitable manner, such as a tray, tote or pallet. In yet another example, the case unit is a combination of items that are not filled with items. The case unit may be, for example, a unit of merchandise (e.g., a case of a soup can, a box of cereal, etc.) contained in the case, or an individual ≪ / RTI > According to an aspect of the disclosed embodiment there is provided a method of holding a shipping case (e.g., cartons, barrel, box, crate, jug, or case unit) Can be of various sizes and can be used to hold case units for delivery and can also be configured to be palletized for delivery. For example, when the bundles or pallets of case units arrive at the storage and retrieval system, the contents of each pallet are uniform (e.g., each pallet holds a predetermined number of identical items - one pallet holds the soup and the other pallet holds the cereal); when the pallet leaves the storage and withdrawal system, any suitable < RTI ID = 0.0 > A number of different case units (e.g., a mixed pallet in which each mixed pallet holds different types of case units-one pallet holds a combination of soup and serial) may be contained in a pallet Please note. In embodiments, the storage and retrieval system described herein may be applied to any environment in which case units are stored and retrieved.

Referring to FIG. 1F, when bundles or pallets of case units introduced, for example, for supplementation of the automated storage and retrieval system 100 (e.g., from a manufacturer or supplier) arrive at the storage and retrieval system, The contents of the pallet can be uniform (e.g., each pallet holds a predetermined number of identical items - one pallet holds the soup and the other pallet holds the cereal). As can be realized, these pallet loaded cases may be substantially similar or, in other words, may be uniform cases (e.g., of similar size) and may have the same SKU (Stock Keeping Unit) The pallets may be a "rainbow" pallet with layers formed into uniform cases). When pallets (PAL) leave the storage and retrieval system 100 with the cases filled with supplemental orders, the pallets may contain any suitable number of different case units (CU) combinations (e.g., each pallet Can hold different types of case units - the pallet holds canned soup, cereal, beverage packs, cosmetics and household cleaners). The cases combined in one palette can have different sizes and / or different SKUs. In one form of the exemplary embodiment, the storage and retrieval system 100 generally includes an in-feed section, a storage and classification section (in one form, the storage of articles is optional) And an output section, which will be described in more detail below. As can be implemented, in one form of the disclosed embodiment, the system 100, for example acting as a retail distribution center, can receive uniform pallet loadings of cases, disassemble pallet items, or dispose of uniform pallet loads Separating the cases into separate case units that are individually handled by the system, fetching and sorting the different cases found by each order into corresponding groups, and comparing the corresponding groups of cases to the mixed case pallet load MPL), which can be referred to as a collecting function. 26, in one form of the disclosed embodiment, for example, the system 100, acting as a retail distribution center, can receive uniform pallet loads of cases and disassemble pallet items Or separates the cases from the uniform pallet load into separate case units individually handled by the system, draws and categorizes the different cases found by each order into corresponding groups, (In the manner described herein) to arrange, in order, a predetermined ordering of picked items, in order, for example, to fulfill one or more customer orders , And at the operator station the articles are picked from the different case units (CU) The top and / or case units CU themselves are placed in the at least one bag (s), tote (s) or other suitable container (s) (TOT) by the operator 1500 or any suitable automation, (CU) are arranged in turn by the operator in accordance with a predetermined ordering order in the operator station 160EP and the ordering of the case units CU as described herein is such that the case units CU ), ≪ / RTI > The in-feed section is generally capable of disassembling the uniform pallet load into individual cases and can be carried through suitable transport means to input the cases into the storage and sorting section. In another form, the output section may be configured to provide an appropriate group of ordered case units, which may be different in SKU, size, etc., at operator station 160EP, in accordance with a predetermined ordering order of the picked items (to fill a customer order) Bags, totes, or other suitable containers.

The storage and sorting section comprises a multi-layered automated storage array, as described in more detail below, which in turn is adapted to accept a separate case or to deliver it to a multi-layer storage array for storage in a storage area I have. The storage and sorting section also defines the outbound delivery of case units from the multi-layer storage array and the desired case units are retrieved individually for delivery to the output section according to commands generated according to orders entered into the warehouse management system. In another form, the storage and classification section accepts individual cases, classifies individual cases (e.g., using buffers and interface stations as described herein), and orders individual cases into the warehouse management system To the output section. Classification and grouping of cases according to an order (e.g., load-out order) may be performed in whole or in part by the storage and retrieval section or output section, or both, And classification and grouping may be performed in any number of ways. The intended outcome is that the output section may include an appropriate grouping of sorted cases that may be different SKUs, sizes, etc., for example, U.S. Patent Application No. 13 / 654,293, filed Oct. 17, 2012 U.S. Patent No. 8,965,559, the disclosure of which is incorporated herein by reference in its entirety).

In an exemplary embodiment, the output section creates a palette load within what may be referred to as a structured architecture of mixed case stacks. The structured architecture of the pallet load described herein is exemplary, and in another aspect, the pallet load may have any other suitable configuration. For example, the structured architecture may be any suitable predetermined configuration, such as a bay load or other suitable vessel or loading vessel envelope that holds a structural load. The structured architecture of the pallet load has several flat case layers (L121-L125, L12T), at least one of which is formed by non-intersecting, independent and stable stacks of multiple mixed cases . ≪ / RTI > Mixed case stacks of a given layer may have substantially the same height to form a substantially flat top and bottom surface of a given layer as may be implemented and have a sufficient number to cover a desired portion of the pallet region or pallet region . The overlaying layer may be oriented such that the cases corresponding to that layer (s) form a bridge between the stacks of supporting layers. Thus stabilizing the stacks and correspondingly stabilizing the interfacing layer of the pallet load. In confining the pallet load to the interior of the structured layer architecture, the combined 3-D pallet loading solution has two parts that can be stored separately: a vertical part (1-D) that breaks the load into layers, And a horizontal portion 2-D that effectively distributes stacks of the same height to fill the height of the pallet of each layer. As described below, the storage and retrieval system causes case units to be output to the output section so that the two parts of the 3-D pallet loading solution are decomposed. The predetermined structure of the mixed pallet load defines the order of the case units, whether the case units are a single case unit pickface or a combined case unit pick face provided by classification, (Which may be automatic or manual loading).

Referring again to FIG. 1, the automated storage and retrieval system 100 includes an input station 160IN (which is a depalletizer 160PA), and / or an elevator (Including a conveyor 160CA for conveying modular articles) and an output station 160UT (which includes a palletizer 160PB, an operator station 160EP and / Input and output vertical elevator modules 150A and 150B (generally referred to as elevator module 150 -including input and output elevator modules), but one The elevator module may be used both to remove the case unit from the input and storage structure), the storage structure 130, and a plurality of autonomous rovers or transport vehicles 110 " (referred to herein as a " bot "). The depalletizer 160PA may be configured to remove the case units from the pallet so that the input station 160IN can transport the items to the elevator module 150 for input into the storage structure 130 have. The palletizer 160PB may be configured to place the items removed from the storage structure 130 on a pallet PAL (FIG. 1F) for delivery. As used herein, at least the elevator module 150, the storage structure 130 and the boats 110 are collectively referred to herein as the multi-layer automated storage arrays (e.g., storage and sorting sections). Throughput axes (e.g., three-dimensional) that contribute to a three-dimensional multi-layer automated storage array (e.g., for a boat 110 reference system REF-Figure 6 - or any other suitable storage and retrieval system reference system) Wherein each processing axis has a mandatory "on the fly sorting" (e.g., classification of case units during delivery of case units) so that the case unit classification and processing can be performed substantially without dedicated sorters , Which will be described in more detail below. The classification along each processing axis is selectable so that load out (e.g., transfer of outgoing case units to form a pallet load) is performed along any combination of all processing axes or processing axes / axes, There is no substantial processing cost compared to processing (e.g., "sortationless" processing) of case units without any classification. As an example of case unit processing associated with classification, referring to FIG. 1A, the storage and retrieval system 100 includes several processing regions or regions. For example, the multi-layered case unit storage process 130LTP (e.g., placement of case units into a reservoir), horizontal case unit transport process 110TP (e.g., from storage to picking passages, (E.g., transfer of the case units to facilitate transfer of case units between storage and vertical transportation), vertical transfer processing 150TP (e.g., transfer of vertical units), buffering processing (BTSTP) And the processing 160TP in the output sections including, for example, conveyance by conveyors 160CB and palletizing by a palletizer 160PB, have. In one form, the classification of the case units may be based on a set of case units along each of the process axes (e.g., X, Y, Z axes relative to the boat 110 and / or elevator 150 reference system) (E.g., "on the fly") with the treatment (130 LTP, 110 years old, BTSTP, 150 TP), and the classification along each axis can be independently selected, Y, and Z axes.

Immediate sorting of the case units, which may be implemented, may in one form include the movement of the boat 110 between the case unit / pick face holding locations and the fix / stop (e.g., transfer deck, (Not crossing the back of the boat 110), it occurs on the boat 110 without a load of case units / pick faces carried by the boat 110. As described below, one or more of the passageways formed with dense multi-layer shelves, linear buffer stations (BS) along the transfer decks 130B, and linear multi-batch transfer stations (TS) And perform instant classification. The boat 110 transfer arm and end effector 110PA, which is also coupled to the case / pick faces through the traversal of the end effector along the Y axis for multiple-independent picking / placement of the case / pick faces, Where the Y axis is defined by the extension of the delivery arm 110PA and is a different direction that is angled with respect to the other transport axis defined by the boat 110 along the picking passageway 130A, And the individual load handling devices of the elevator 150 (configured for sorting on the elevator platform through the extension of the load handling device along the Y axis) substantially coincide with the processing along the Y axis to perform instant classification do. As can be realized, the elevators 150 are each configured to carry pick faces between different transfer deck layers, and as will be described herein, a process along the Z axis (which is defined by the elevator 150) And provides a substantially consistent instant classification. In one form, the elevator picks one or more pick faces from one or more transport deck layers and provides one or more pick faces to a load fill section or load fill cell (e.g., Station 160UT). The term load fill section or load fill cell (which is used interchangeably herein and is generally referred to as load fill) refers to a pallet load fill section / cell (e.g., the creation of a mixed pallet load (MPL) Refers to an itemized loaded section / cell as described.

1G and 2A, the storage structure 130 may include multiple storage rack modules RM comprised of a high density three-dimensional rack array (RMA), which may include storage or deck layers 130L ). ≪ / RTI > As used herein, the term "high density three-dimensional rack array" refers to a three-dimensional rack array (RMA) having undeterminately open shelves distributed along the picking passages 130A, (E.g., the case units are disposed within the dynamically allocated storage space in each picking passageway layer, so that the vertical space / gap (VG) between the case units and the horizontal space / Gap (G) is minimized in each picking passageway layer, which will be described in more detail below).

Each storage layer 130L includes pick face storage / handoff spaces 130S (referred to herein as storage space 130S) formed with rack modules RM, Includes racks disposed along picking aisles 130A (which are connected to transfer deck 130B), and the picking passages pass through, for example, a rack module array (RMA) And provides access to the boats 110 to storage spaces 130S and transfer deck (s) 130B. In one form, the shelves of the rack modules RM are arranged as multi-layer shelves distributed along the picking passage 130A. As can be implemented, the boats 110 may include case units in any storage spaces 130S of the storage structure 130 (e.g., of the layer in which the boat 110 is located) and any elevator modules 150 along the picking passages 130A and the transfer deck 130B on each storage layer 130L (e.g., each of the boats 110 is moved in each of the storage spaces 130A, (130S) and approaches each elevator module (150) at each storage layer (130L).

The transfer decks 130B are disposed in respective different layers (corresponding to the respective layers 130L of the storage and retrieval system) and are described, for example, in U.S. Patent Application No. 13 / (RMAE1) of the storage rack array (RMA) or some of the ends of the storage rack array (RMA), as described in US patent application Ser. Nos. 326,674, the disclosure of which is incorporated herein by reference in its entirety. Or one transport deck at the sides RMAE1, RMAE2, one over the other or offset horizontally.

The transfer decks 130B are substantially open and extend along transverse decks 130B and along a plurality of transfer lanes along transfer decks 130B (e.g., the boat reference system REF shown in FIG. 6) (For example, along the X processing axis with respect to the boat 110). As can be implemented, in each storage layer 130L, the transfer deck (s) 130B communicate with each of the picking passages 130A on their respective storage layers 130L. The boats 110 are positioned to move along the picking passages (e.g., along the X process axis relative to the boat reference system REF shown in FIG. 6) and within the rack shelves beside the respective picking passages 130A (S) 130B on the respective storage layer 130L and the picking passages 130A for access to the disposed storage spaces 130S (e.g., the boat 110 Can approach the storage space 130S distributed on both sides of each passage along the Y processing axis and the boat 110 can be directed to different directions when traversing each of the picking passages 130A For example, referring to FIG. 6, driving wheels 202 leading to a moving direction or driving wheels following a moving direction). As may be implemented, the outgoing processing from the storage array in a horizontal plane corresponding to a predetermined storage or deck layer 130L is performed by combined or integrated processing along the X and Y processing axes. As mentioned above, the transfer deck (s) 130B also provides a boat 110 in which a boat 110 accesses each of the elevators 150 on a respective storage layer 130L, (E.g., along Z-process axis) supply and / or remove each of the storage units 130L to and from each storage layer 130L, and the boats 110 are connected to the elevators 150 And the storage spaces 130S.

2A, in one form, the storage structure 130 includes a plurality of storage rack modules RM (shown in FIG. 2A), each of which is comprised of a three-dimensional array (RMA) , And passages 130A are configured to allow boat 110 to move within passages 130A. The transfer deck 130B has a non-deterministic carrying surface on which the boats 110 are moved and the non-critical carrying surface 130BS has one or more parallel travel lanes connecting the passages 130A. (E.g., high speed boat travel routes (HSTP)). As can be realized, the side-by-side moving lanes are laid side by side along a common non-critical transport surface 130BS between the two side portions 130BD1, 130BD2 of the transfer deck 130B. As shown in Figure 2A, in one aspect, the passages 130A are connected to the transfer deck 130B at one side 130BD2 of the transfer deck 130B, but in another form, In a manner substantially similar to that disclosed in U. S. Patent Application Serial No. 13 / 326,674, filed October 24, 2006, the disclosure of which is incorporated herein by reference in its entirety, the passageways may include one or more sides 130BD1, and 130BD2. As will be described in greater detail below, the other side 130BD1 of the transfer deck 130B is configured such that at least a portion of the transfer deck is interposed between the deck storage racks and the passages 130A, (E.g., buffer stations (BS) or transfer stations (TS)) distributed along the storage shelves 130BD1. The deck storage racks are disposed along the other side 130BD1 of the transmission deck 130B so that deck storage racks communicate with the boats 110 from the transmission deck 130B and communicate with the elevator modules 150 The deck storage racks are accessed from the transmission deck 130B by the boats 110 and are approached by elevators 150 to pick and place the pick faces so that the pick faces can be moved between the boats 110 and the deck storage racks & And between deck storage racks and elevators 150 and is therefore communicated between boats 110 and elevators 150).

Referring to FIG. 1, each storage layer 130L may be formed, for example, from U.S. Patent Application Serial No. 14 / 209,086, filed March 13, 2014, and U.S. Patent Application No. Of the boats 110 on its storage layer 130L, as disclosed in US patent application Ser. No. 13 / 326,823 (now U.S. Patent No. 9,082,112), the disclosures of which are incorporated herein by reference in their entirety. and a charging station 130C for charging an on-board power supply.

The boats 110 may be any suitable independently operable autonomous vehicle carrying and carrying case units / pick faces along the X and Y processing axes throughout the storage and retrieval system 100. In one form, the boats 110 are automated and are autonomous (e.g., free riding) autonomous vehicles. Suitable examples of boats include, for exemplary purposes only, U.S. Patent Application No. 13 / 326,674, filed Dec. 15, 2011; U.S. Patent Application No. 12 / 757,312, now U.S. Patent No. 8,425,173, filed on April 9, 2010; U.S. Patent Application No. 13 / 326,423, filed December 15, 2011; U.S. Patent Application No. 13 / 326,447, now U.S. Patent No. 8,965,619, filed December 15, 2011; U.S. Patent Application No. 13 / 326,505 (now U.S. Patent No. 8,696,010) filed December 15, 2011; U.S. Patent Application No. 13 / 327,040, now U.S. Patent No. 9,187,244, filed December 15, 2011; U.S. Patent Application No. 13 / 326,952, filed December 15, 2011; U.S. Patent Application No. 13 / 326,993, filed December 15, 2011; U.S. Patent Application Serial No. 14 / 486,008, filed September 15, 2014; And U.S. Provisional Patent Application No. 62 / 107,135, filed January 23, 2015, the disclosures of which are incorporated herein by reference in their entirety. The boats 110 (described in more detail below) may be constructed by placing case units, such as the retail items described above, within a picking stock within one or more layers of the storage structure 130, And selectively draw out the case units. The processing axes X and Y (e.g., pick face conveying axes) of the storage array may include picking passages 130A, at least one transfer deck 130B, a boat 110, And an extendable end effector of the boat 110 (and in another aspect, the extendable end effector of the elevator 150 also at least partially defines the Y processing axis). The pick faces are connected to an inbound pick section (e.g., the foyer station 160IN) of the storage and retrieval system 100 in which the pick faces coming into the array are created and an outgoing pick face from the array in accordance with a predetermined load fill ordering order to fill the load (E.g., the output section 160UT) of the storage and retrieval system 100 in which they are disposed. In one form, the storage rack modules RM and the boats 110 are configured such that the storage rack modules RM and the boats 110 are combined to form at least one axis So that the two or more pick faces are picked from one or more of the storage spaces and a predetermined number of picked faces are picked out from the one or more storage spaces, (E.g., buffers and transfer stations (BS, TS)) that are different from the storage spaces 130S in accordance with the load fill order.

Other suitable features of the boats 110, elevator modules 150 and the storage and retrieval system 100 may be provided by, for example, one or more central system control computers (e.g., control server 120) For example, via any suitable network 180 in any suitable manner. In one form, the network 180 is a wired network, a wireless network, or a combination of wireless and wired networks using any suitable type and / or number of communication protocols. In one aspect, the control server 120 includes a collection of programs (e.g., system management software) that are executed substantially concurrently for substantial automatic control of the automated storage and retrieval system 100. For example, the set of substantially concurrently executing programs configured to manage the storage and retrieval system 100 may include, for illustrative purposes only, control, scheduling, and all active system components, inventory management (e.g., (E.g., where case units are entered and removed, the order in which the cases are removed and where the case units are stored) and pick faces (e.g., as a unit that can be moved as a unit by a component of the storage and retrieval system One or more case units) and connects to the warehouse management system 2500. [ The control server 120, in one aspect, may be configured to control aspects of the storage and retrieval system in a manner described herein. For the sake of simplicity and ease of explanation, the term "case unit (s)" is used herein to refer generally to both individual case units and pick faces (a pick face is a plurality of cases Units).

1B and 1D, a rack module array (RMA) of the storage structure 130 includes vertical support members 1212 and horizontal support members 1200 that form a high density automated storage array , Which will be described in more detail below. The rails 1200S can be mounted to one or more of the vertical and horizontal support members 1212 and 1200 within the picking passages 130A and the boats 110 can be mounted on the picking passageways 130A, And to move along the rails 1200S through the first rail 130A. At least one side of at least one of the picking passages 130A of at least one storage layer 130L may include one or more storage shelves 1302 (e.g., formed of rails 1210, 1200 and slats 1210S) And one or more storage shelves may have multiple shelf layers 130LS1-130LS4 between the storage or deck layers 130L defined by the transfer deck 130B (and the rails 1200S forming the passage deck) Lt; RTI ID = 0.0 > heights. ≪ / RTI > The multiple rack shelf layers 130LS1-130LS4 correspond to the respective storage layers 130L and extend along one or more of the picking passages 130A in communication with the transfer deck 130B of the respective storage layer 130L . Multiple rack shelf layers 130LS1-130LS4 may be implemented such that each storage layer 130L is accessible to the stacks of stored case units accessible from the common deck 1200S of their respective storage layers 130L (E.g., stacks of stored cases are located between storage layers).

As can be implemented, the boats 110 across the picking passage 130A in the corresponding storage layer 130L are separated from the respective shelf layers 130LS1-130LS4 (e.g., to pick and place case units) Each shelf layer 130LS1-130LS4 approaches each available storage space 130S so that each of the shelf layers 130LS1-130LS4 is vertically stacked adjacent to one or more of the sides (s) PAS1, PAS2 (see Figure 2A) of the picking passageway 130A Lt; RTI ID = 0.0 > 130L. ≪ / RTI > As mentioned above, each of the storage shelf layers 130LS1-130LS4 is connected to a common picking passageway (not shown) by rails 1200S (e.g., corresponding to the transfer deck 130B of the respective storage layer 130L) Deck 1200S). 1B and 1D, one or more intermediate shelf rails 1210 may be used to form multiple stacked storage spaces 130S accessible from the common rails 1200S by the boat 110, respectively (E.g., in the Z direction) from each other (and from the rail 1200). As may be implemented, horizontal support members 1200 also form shelf rails (in addition to shelf rails 1210) on which case units are placed.

Each stacked shelf layer 130LS1-130LS4 of the corresponding storage layer 130L (and / or each shelf layer as described below) may include a plurality of shelf layers 130LS1-130LS4 (e.g., Dimensional storage surface with a surface (CUSP) which forms an open, undeterministic two-dimensional storage surface, which extends in the longitudinal direction (i.e. along the length of the passage or coincident with the path of the boat movement formed by the picking passage) ) And side-to-side (i. E., Across the depth of the rack, across the path of passage or boat movement). The dynamic allocation of the case units constituting the pick face and pick face is described, for example, in the manner disclosed in U.S. Patent No. 8,594,835, the disclosure of which is incorporated herein by reference in its entirety on November 26, . For example, a controller, e.g., controller 120, monitors empty spaces or storage spaces between case units and case units stored on shelves. Empty storage locations are dynamically allocated and, for illustrative purposes only, when combined to fit into a pre-reserved space for a first size case, or vice versa, one case with a first size has a second size With three cases with a. The dynamic allocation adjusts the size of the empty storage spaces substantially continuously when the case units are disposed on storage shelves and removed from the storage shelves (e.g., the storage locations have predetermined sizes on storage shelves and / or Have no place). As such, case unit (or tote) pick faces with varying lengths and widths are placed in respective two-dimensional storage spaces (e.g., in respective storage shelf layers 130LS1-130LS4) on storage shelves, / RTI > have a minimum gap G between them (for example, referring to FIG. 1B, such that the picking / placement of the case units does not contact other case units stored on the shelves).

As described above, the spacing between the rails 1200, 1210 (e.g., storage shelves) can be adjusted to minimize vertical gaps (VG) between vertically stacked case units (e.g., To provide sufficient spacing for insertion and removal of case units). As described below, in one form, the vertical spacing between the rails 1200, 1210 is greater than the vertical spacing between the rails 1200, 1210 (see, for example, SECA, SECB in Figures 1B and 2a) 130A, while in other aspects the spacing between the rails 1200, 1210 may be substantially continuous along the picking passage 130A. The spacing between the rails 1200 and 1210 at one side PAS1 of the picking passageway 130A (FIG. 2A) may be the same as the spacing between the rails 1200 and 1210 of the same picking passageway 130A, May be different from the spacing between the rails 1200, 1210 in the other side PAS2 (FIG. 2A). Any suitable number of shelves 1210 may be provided between the decks 1200S of adjacent vertically stacked storage layers 130L and the shelves may be provided with the same or different 1C, the case units CUD1, CUD2, CUE1-CUE3, CUF1 and CUF2 are arranged in the vertical stack of one side of the picking passageway and in the case units CUA, CUB, CUC Are located on storage shelves having a substantially similar pitch in the vertical stack of the other side of the picking passageway). In one aspect of the disclosed embodiment, referring to Figure 1B, for example, between the top or top surface (CUTS) of the case unit (CU) and the bottom of the storage shelves (1200, 1210) The rack shelf layers 130LS1-130LS4 (which correspond to the respective storage layers 130L) so that the heights Z1A-Z1E between the shelves are different from each other, rather than being equal, in order to minimize the vertical gap VG of the shelves 130. [ The vertical pitch between them changes. As shown in FIG. 1B, when the gaps G and VG in the horizontal and vertical directions are minimized, case units are densely arranged inside the storage shelves, thereby forming a high density three-dimensional rack array (RMA) The passages formed with high density multilayer lathes, for example, increase the throughput along the X processing axis and provide an aligned / sorted plurality of two or more case units from one common picking passageway to one common pass of the picking passageway Of-picking can be performed. For example, referring to FIG. 1B, one section SECB of the storage layer 130L includes two storage shelves 1200, 1210, one shelf having a pitch of Z1A, the other shelf Z1B, and Z1A and Z1B are different from each other. These different pitches allow case units CUD, CUE having different heights to be stacked on top of one FMS on the common storage layer 130L. In another form, the pitches Z1A, Z1B may be substantially the same. In this form, the storage layer 130L comprises another storage section SECA with three storage shelves, one shelf having a pitch of Z1E, one storage shelf having a pitch of Z1D, The shelf has a pitch of Z1C, where Z1E, Z1D and Z1C are different. In another form, at least two of the pitches Z1E, Z1D, Z1C are substantially the same. In one form, the pitch between the shelves is such that the large and / or heavy case units CUC, CUE are closer to the deck 1200S than the small and / or light case units CUD, CUA, CUB . In another form, the pitch between the shelves is configured such that the case units are disposed at any suitable position, with or without associated with the size and weight of the case unit.

In another form, the vertical pitches between at least some of the rack shelves are the same, so that the heights (Z1A-Z1E) between at least some of the shelves are the same while the vertical pitches between the other shelves are different. In another aspect, the pitch of the rack shelf layers 130LS1-130LS4 on one storage layer is a constant pitch (e.g., the rack shelf layers are substantially equally spaced in the Z-direction) The pitches of the shelf layers 130LS1-130LS4 are different constant pitches.

In one form, for example, U.S. Patent Application Serial No. 14 / 966,978, filed December 11, 2015, and U.S. Provisional Patent Application No. 62 / 091,162, filed December 12, 2014, The storage space (s) 130S formed by the storage shelf layers 130LS1-130LS4 between the storage or deck layers 130L, as described in the entirety of the shelf layers 130LS1- Length, width, and / or weight in the case 130, For example, referring to FIG. 1B, the storage layer 130L includes storage sections having at least one intermediate shelf 1210. FIG. In the illustrated example, to form the shelf layers 130LS1-130LS4, one storage section includes one intermediate shelf 1210, while the other storage section includes two intermediate shelves 1210 . In one form, the pitch Z1 between the storage layers 130L can be any suitable pitch, e.g., from about 32 inches to about 34 inches, and in another aspect, the pitch is greater than about 34 inches Or less than about 32 inches. Any suitable number of shelves can be provided between the decks of adjacent vertically stacked storage layers 130L, and the shelves have the same or different pitches between the shelves (e.g., see FIG. 1C) And the case units CUA, CUB and CUC are arranged in the vertical stack of the other side of the picking passageway, and the case units CUD1, CUD2, CUE1-CUE3, CUF1 and CUF2 are arranged in the vertical stack at one side of the picking passageway, Disposed on a storage shelf having a substantially similar pitch).

In one aspect of the disclosed embodiment, the storage or deck layers 130L (e.g., the surface on which the boats 110 move) are arranged at any suitable predetermined pitch Z1, Is not an integer multiple of the intermediate shelf pitch (s) (Z1A-Z1E). In another form, the pitch Z1 may be an integral multiple of the middle shelf pitch, for example, the shelf pitch may be substantially equal to the pitch Z1, so that the corresponding storage space corresponds to the pitch Z1 ) Of the lower surface of the substrate. As can be realized, the shelf pitches Z1A-Z1E are substantially separated from the storage layer 130L pitch Z1 and conform to a common case unit height as shown in FIG. 1B. In one form of the disclosed embodiment, the case units of different heights are dynamically allocated or otherwise distributed within the storage space 130S having shelf heights corresponding to the height of the case unit along each of the passages. (For example, in the X direction relative to the rack reference system REF2, the X direction is the same as the boat movement along the picking passage 130A in the boat reference system REF) along the length of the passage matched with the stored case unit, Next to the unit, the remaining space between the storage layers 130L is freely available for dynamic allocation of cases of corresponding heights. Dynamic allocation of case units with different heights on the shelves having different pitches may be realized by providing stored case layers of different heights on either side of each of the picking passages 130A between the storage layers 130L And each case unit is dynamically distributed along the common picking passageway 130A such that the boats in the common passageway are independently accessible to each case unit within each stored case layer (e.g., for picking / placement) do. The arrangement / allocation of such high density case units and arrangement of storage shelves provides maximum storage space / volume utilization efficiency between storage layers 130L, and as a result, the optimized distribution of case unit SKUs allows the rack module array (RMA) (E.g., to provide a high-density storage array), a three-dimensional rack module array (not shown) for length, width, and height RMA) space. Each rack shelf may be filled by dynamic allocation / distribution in each shelf layer.

1E and 6A, each of the storage layers 130L includes a single layer of storage shelves for storing one layer of case units (e.g., each storage layer may comprise one case unit (Including the support surface CUSP), the boats 110 are configured to transfer the case units to and from the storage shelves of their respective storage layers 130L. For example, the boat 110 'shown in FIG. 6A is substantially similar to the boat 110 described herein, but the boat 110' includes case units (e.g., common rail 1200S Sufficient displacement of the transfer arm 110PA for placement in the multiple storage shelf layers 130LS1-130LS4 (which is accessible from the storage shelf layers 130LS1 - 130LS4) is insufficient. Here, the transfer arm drive assembly 250 (which may be substantially similar to one or more drive assemblies 250A, 250B) may only be configured to move the case unit from the case unit support surface CUSP of one layer of storage shelves Sufficient Z for transferring the case unit to and from the payload area 100PL and for transferring the case unit between the fingers 273 of the transfer arm 110PA and the payload bed 110PB, Axis-shifting. Suitable examples of the boat 110 'can be found, for example, in U.S. Patent Application No. 13 / 326,993, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety .

2A, in order to form ordered or otherwise matched rack shelf sections along the picking passageway 130A, the rack shelves 1210 (shown in FIG. (Including a rack shelf formed by the rail 1200) is divided into sections SECA, SECB in the longitudinal direction (e.g., along the length of the picking passage 130A in the X direction with respect to the storage structure reference system REF2) do. The passageway shelf sections SECA and SECB may be arranged in a picking sequence of the boat 110 traversing the path in a common pass for picking up the case units for a common order fill, (e.g., based on an order out sequence) based on a pick sequence. In other words, the boat 110 picks one or more case units from the passage shelf sections SECA, SECB on the common side of the picking passageway 130A to build a pick face on the boat 110 (For example, traversing in one direction) along a single or common picking passage during a pick-up / order output (dispatch), as described in more detail below, And case units arranged on the boat in order. Each of the passage rack sections (SECA, SECB) includes intermediate shelves in the manner described above. In another form, some of the passage shelves do not include intermediate shelves, while others include intermediate shelves.

In one form, the aligned passage rack sections SECA and SECB include different shelf pitches between the sections SECA and SECB. For example, the passage rack section SECA has shelves with one or more pitches, while the passage rack section SECB has pitches with one or more different (e.g., different from the pitches of the shelves in the SECA) They have shelves. According to aspects of the disclosed embodiments, the pitch of at least one intermediate shelf of one passage rack section (SECA, SECB) is greater than the pitch of at least one of the other of the aligned passage rack sections (SECA, SECB) of the common picking passage Lt; RTI ID = 0.0 > shelf. ≪ / RTI > The different pitches of the intermediate shelves 1210 in the aligned passage rack sections SECA and SECB are determined by a mixed SKU loadout sequence from the common path of the common picking passageway 130A, (At least two) aligned picks (i.e., pickings in an ordered sequence) using the boat 110, depending on the position of the boat 110 (e.g., palletization into a common pallet load) Multiple aligned pickings are selected to be realized. As may be implemented, mixed loadouts from the storage and retrieval system 100 (e.g., to fill a truck loading port / pallet load) may be provided to various load-out picking passages (e.g., to an outbound pallet And the shelf pitch in the aligned sections SECA and SECB is such that the boat 110 is arranged in a sequence from the common picking pass path to the load- (E.g., one or more case units are picked in a predetermined order from the common picking passageway in one pass of the common picking passageway). The aligned rack sections < RTI ID = 0.0 > The different passage shelf pitches of the channels SECA and SECB are arranged such that a plurality of aligned multi-picks (a single pass of the passageway, Picking is performed by each of the boat order fulfillment passes along each path and is stored and stored by the boats 110, A majority of the cases picked in the extraction system 100 and directed to a common load-out (e. G., A common palette load) are arranged in a common order corresponding to the load-out sequence during a single pass of the common picking pass, (E.g., two or more cases picked by the boat 110 are picked from the same picking passage in a single pass, e.g., the boat moves in one direction as it passes through the picking passage). In one aspect of the disclosed embodiment, both side portions PAS1 and PAS2 of the picking passageway 130A may have aligned passage rack sections SECA and SECB And one aligned section may be matched with one or more sections of the same side PAS1, PAS2 of common picking passageway 130A. As can be realized, the matched passage rack sections are connected to picking passageway 130A, Or may be spaced apart from one another.

Referring to FIG. 2A, each transmission deck or storage layer 130L includes one or more elevator pickface interface / handoff stations TS (referred to herein as an interface station TS), where The case unit (s) or totes (in a single or combined case pick) are transferred between the elevator load handling devices (LHD) and the boats 110 on the transfer deck 130B. The interface station TS is disposed at one side of the picking passage 130A and the transfer deck 130B opposite the rack module RM so that the transfer deck 130B is located between the picking passages and each interface station TS . As mentioned above, each boat 110 on each picking layer 130L has a respective storage location 130S on each storage layer 130L, each picking passage 130A and each elevator 150 , Thus each boat 110 accesses each of the interface stations TS on each storage layer 130L. In one form, the interface stations are offset from the high speed boat travel paths (HSTP) following the transmission deck 130B such that the boat 110 access to the interface station TS is controlled by the boat speed . ≪ / RTI > As such, each of the boats 110 can receive all of the storage space 130S (or both) from all interface stations (TS) corresponding to the deck layer, ), And vice versa.

In one form, the interface station TS is connected between the boat 110 and the load handling device LHD of the elevator 150 (e.g., an interface station TS having no moving parts for delivering case units) Is configured for passive transfer (e.g., handoff) of units (and / or pick faces) as will be described in greater detail below. For example, referring to FIG. 2B, the interface station TS and / or the buffer station BS may take advantage of the lifting capabilities of the boat 110 (e.g., in relation to stacked rack shelves (RTS) One or more stacks of transfer rack shelves (RTS) substantially similar to the storage shelves described above (e.g., formed by rails 1210, 1200 and slats 1210S, respectively) The boat 110 handoff (e.g., picking and positioning) is substantially similar to the way between the boat 110 and the storage spaces 130S (as described herein), by including the layers TL1, TL2. Occurs in a passive manner, and the case units or totes are transferred to and from the shelves. In one form, a buffer station (BS) on one or more stacked layers (TL1, TL2) serves as a handoff / interface station with respect to the load handling device (LHD) of the elevator 150. In one form, boats, such as boats 110 ', are configured to transfer case units to one layer 130L of storage shelves, and the interface stations TS and / (Which is substantially similar to the storage rack shelves of the storage layers 130L described above with respect to FIG. 1D, for example). As may be implemented, the operation of the storage and retrieval system with the boats 110 'providing single layer storage and transfer shelves is substantially similar to that described herein. (E.g., individual case units or pick faces) to stacked rack shelves (RTS) (and / or a single layer of rack shelves) that can be implemented with a load handling device (LHD ) Handoff occurs (e.g., picking and placement) in a passive manner, which allows the boat 10 and storage spaces 130S (as described herein) or the totes to be transferred to and from the shelves 130S ). ≪ / RTI > In another form, the shelves include transfer arms (the transfer arm is an interface station (TS) shelf) for picking and placing case units or totes from one or more boats 110 and a load handling device (LHD) (Which is substantially similar to the delivery arm 110PA of the boat 110 shown in Fig. 6, although the Z-direction movement can be excluded when incorporated into the vessel 110). A suitable example of an interface station with an active transfer arm is described, for example, in U.S. Patent Application No. 12 / 757,354, filed on April 9, 2010, the disclosure of which is incorporated herein by reference in its entirety Incorporated herein by reference.

In one form, the position of the boat 110 relative to the interface station TS occurs in a manner substantially similar to the boat position for the storage spaces 130S. For example, in one form, the location of the boat 110 relative to the storage spaces 130S and the interface station TS can be found in U.S. Patent Application No. 13 / 327,035, filed Dec. 15, 2011, Patent No. 9,008,884) and 13 / 608,877 (now U.S. Patent No. 8,954,188), filed September 10, 2012, the disclosures of which are incorporated herein by reference in their entirety Lt; / RTI > 1 and 1d, the boat 110 may include locating features 130F disposed within and / or on the slats 1210S and / or the rails 1200. For example, (E.g., holes, reflective surfaces, RFID tags, etc.). Slats and / or location features 130F are arranged to identify the location of the boat 110 within the storage and retrieval system, e.g., for storage spaces and / or interface stations TS. In one form, the boat 110 includes a controller 110C that counts, for example, slats 1210S to at least partially determine the position of the boat 110 within the storage and retrieval system 100, . In another aspect, the locating features 130F may include an absolute encoder or an incremental encoder that provides position determination of the boat 110 within the storage and retrieval system 100 when detected by the boat 110 May be arranged to form an incremental encoder.

2B, in each of the interface / handoff stations TS, the transferring racks RS are connected to a plurality of load-bearing stations (e.g., corresponding One or more storage case unit holding locations for holding the number of case units or totes). As mentioned above, each load of the multi-load station may be a single case unit / tote or may be picked and disposed by a boat or load handling device (LHD) (e.g., a plurality of case units / RTI > is the pickface of a multi-case. As can be realized, the boat position described above is such that the boat 110 is itself capable of picking and positioning the case units / totes and pick faces from a predetermined one of the holding locations of the multi-load station, Allows to position against the load station. When the inbound and / or out-handed stations TS are transferred between the boats 110 and the load handling devices (LHD) of the elevators 150, the inbound and / or outbound case units / totes and pick faces (E.g., one or more case holding locations arranged along the X axis of the boat 110 when the boat 110 is connected to the interface station TS) (See Figure 4b).

In one form, one or more peripheral buffer / handoff stations (BS) (substantially similar to interface stations TS, referred to herein as buffer stations BS) The transfer deck 130B is disposed between the picking passages and the respective buffer stations BS by being disposed on the side of the transfer deck 130B opposite to the transferring deck 130B. Peripheral buffer stations BS are arranged between interface stations TS in one form as shown in Figures 2A and 2B, or otherwise aligned with interface stations TS. Peripheral buffer stations BS are formed by rails 1210 and 1200 and slats 1210S and are contiguous (but are separate sections) of interface stations TS (e.g., Interface stations and peripheral buffer stations are formed by common rails 1210 and 1200). As such, the Peripheral Buffer Stations (BS) may, in one form, provide one or more stacked layers (TL1, TL2) of the transport rack shelves (RTS) as described above with respect to the interface stations While in another form the buffer stations comprise one of the transfer rack shelves. Peripheral buffer stations BS form buffers from which case units / totes and / or pick faces are transferred from one boat 110 to the same storage layer 130L, as described in more detail below. And is temporarily stored when it is transferred to another different boat 110 on the same boat. As may be implemented, in one aspect, the peripheral buffer stations may be located in any suitable location of the storage and retrieval system, including within the interior of the picking passage 130A and along the transfer deck 130B have.

2A and 2B, in one aspect, the interface stations TS are arranged along the transfer deck 130B in a manner similar to the parking spaces on the side of the road, Parallel park "to a predetermined interface station TS for delivering to and from one or more layers (TL1, TL2) of the interface station (TS) to one or more shelves (RTS). In one form, the direction of transmission of the boats 110 in the interface station TS (e.g., when parked in parallel) is in the same direction as when the boat 110 moves along the high speed boat transmission path HSTP , The interface station is substantially parallel to the boat moving direction of the transfer deck and / or the sides of the transfer deck where the elevators 150 are located). The connection of the boat 110 to the peripheral buffer stations BS is caused by parallel parking, so that the direction of transmission of the boat 110 at the peripheral buffer station BS (e.g., when parked in parallel) 110 are traveling along the high-speed boat transfer path HSTP.

In another aspect, referring to Figures 3A and 3B, at least the interface stations TS are located on an extension or pier 130BD extending from the transmission deck 130B. In one form, the bridges 130BD are configured to allow the boat 110 to move along the rails 1200S attached to the horizontal support members 1200, along the picking passages (in a manner substantially similar to that described above) similar. In another form, the moving surface of the bridges 130BD is substantially similar to that of the transfer deck 130B. Each of the bridges 130BD is located on the side of the transmission deck 130B, e.g., on the opposite side of the picking passages 130A and the rack modules RM so that the transmission deck 130B includes the picking passages, (130BD). The bridging (s) 130BD extend from the transfer deck at a non-zero angle relative to at least a portion of the high speed boat transfer path (HSTP). In another form, the bridging (s) extend from any suitable portion of the transfer deck 130B including the ends 130BE1, 130BE2 of the transfer deck 130B. As may be implemented, peripheral buffer stations BSD (substantially similar to the peripheral buffer stations BS described above) may be located along at least a portion of the padding 130BD.

Referring to Figures 4A, 4B and 5, as described above, in one aspect, the interface stations TS are passive stations, and therefore the load transfer device (LHD) of the elevators 150A, Arms or pick heads 4000A and 4000B. In one form, the inbound elevator modules 150A and the outbound elevator modules 150B each have different types of pick heads (as described below) In another form, the inbound elevator modules 150A and the outbound elevator modules 150B have the same type of pick head similar to one of the pick heads described below (e.g., Both heads 150A and 150B have pick heads 4000A or both elevators 150A and 150B have pick heads 4000B. The pick heads of elevators 150A and 150B define a Y processing axis, at least in part, as described herein. In one form, both the inbound and outbound elevator elevator modules 150A, 150B have vertical columns (mast) and are configured to raise and lower the slides (and the pick heads 4000A, 4000B mounted on the slides) Slide 4001 moves along the column under the motive force of any suitable drive unit 4002D (e.g., connected to control server 120). The inbound elevator module (s) 150A has the pick head 4000A mounted on the slide 4001 so that the pick head 4000A moves vertically with the slide 4001 as the slide moves vertically. In this configuration, pick head 4000A includes one or more branches or fingers 4273 mounted on base member 4272. [ The base member 4272 is movably mounted on one or more rails 4360S of the frame 4200 and the frame 4200 is mounted on the slide 4001. [ Any suitable drive unit 4005 (which is substantially similar in shape to drive unit 4002D), such as a belt drive unit, a chain drive unit, a screw drive unit, a gear drive unit, Is not similar in capacity because it may be smaller than the device 4002D) is mounted to the frame 4200 and is attached to the base 4272 to drive the base member 4272 in the direction of the arrow 4050 Member 4272 as shown in Fig.

The outbound elevator module (s) 150B also includes the pick head 4000B mounted on the slide 4001 so that the pick head 4000B moves vertically with the slide 4001 as the slide moves vertically do. In this configuration, the pick head 4000B includes one or more pick head portions or effectors (e.g., transfer arms) (LHDA), LHDB, each of which is connected to a respective base member 4272A And one or more branches or fingers 4273 mounted thereto. Each base member 4272A is movably mounted to one or more rails 4360SA of frame 4200A and the frame is mounted to slide 4001. [ Any suitable drive unit (s) 4005A, such as a belt drive, a chain drive, a screw drive, a gear drive, etc., is mounted to the frame 4200A and is coupled to a respective base member (s) (Each effector has its own drive unit so that each effector can move independently in the direction of arrow 4050), so that each effector can move independently in the direction of arrow 4050 It is possible). Although the two effects LHDA and LHDB are shown in the pick head 4000B, the pick head 4000B corresponds to the number of case unit / pick face holding locations of, for example, interface stations TS The case units / pick faces are individually picked from the interface stations TS, as will be described in more detail below.

As may be implemented, the elevator modules 150A, 150B are under the control of any suitable controller, such as the control server 120, and when picking and placing the case unit (s) And / or descends to a predetermined height corresponding to the interface station TS of level 130L. As may be implemented, the elevator modules 150A, 150B provide a Z processing axis (with respect to both the boat reference system REF and the rack reference system REF2) of the storage and retrieval system, The elevator module 150B instantly classifies the case units delivered to the output station 160US. In the interface station TS, the pick heads 4000A, 4000B, and 4270, which correspond to one or more case unit (s) holding place (s) of the interface station TS to which one or more case unit (s) The individual portions (e.g., the effectors LHDA, LHDB) are configured to extend such that the fingers 4273 beneath the case unit (s) to be picked (as shown in Figure 4B) are engaged between the slats 1210S do. The elevators 150A and 150B raise the pick heads 4000A and 4000B to lift the case unit (s) from the slats 1210S and transfer the case unit (s) to the other layers of the storage and retrieval system To return the pick head 4000A, 4000B to deliver the case unit (s) to the output station 160UT, for example. Likewise, to place one or more case unit (s), a pick head (s) corresponding to one or more case unit (s) holding place (s) of the interface station (TS) 4000A, 4000B) or their respective portions (e.g., effectors (LHDA, LHDB)) are extended so that the fingers 4273 are on the slats. The elevators 150A and 150B lower the pick heads 4000A and 4000B to place the case unit (s) on the slats 1210S so that the fingers 4273 are positioned on the case unit (s) Lt; RTI ID = 0.0 > 1210S < / RTI >

6, the boat 110 includes stacked storage spaces 130S defined at least partially in the Z direction by one or more rails 1210A-1210C, 1200, (E.g., storage spaces, interface stations, and / or peripheral buffer stations (BS, BSD) that perform picking and placement of case units from peripheral TSs and peripheral buffer stations Are further defined in the X and Y directions with respect to the rack reference system REF2 or the boat reference system REF through dynamic allocation of case units as described above. As may be implemented, a boat defines an X processing axis (e.g., with respect to a boat reference system (REF)) and at least partially defines a Y processing axis, as described further below. As mentioned above, the boats 110 carry case units between each elevator module 150 and each storage space 130L on their respective storage layers 130L. The boats 110 include a frame 110F having a drive section 110DR and a payload section 110PL. Each of the drive sections 110DR includes a plurality of drive sections 110DR connected to respective ones of the drive wheels or wheels 202 for driving the boats 110 along the X direction (relative to the boat reference system REF to define the X process axes) Drive wheel motors. As can be implemented, when the boat 110 moves through the picking passages 130A, the X-axis of the boat movement coincides with the storage locations. In this configuration, the boat 110 is mounted on both sides of the boat 110 at an end 110E1 (e.g., the first longitudinal end) of the boat 110 to support the boat 110 on a suitable drive surface But in another form, any suitable number of drive wheels are provided to the boat 110. The drive wheels 202 are located in the < Desc / Clms Page number 7 > In one form, each drive wheel 202 is independently controlled so that the boat 110 can be steered through the differential rotation of the drive wheels 202, while in another form, The rotations of the wheels 202 can be combined to rotate at substantially the same speed. Any suitable wheels 201 may be provided on both sides of the boat 110 at the end 110E2 (e.g., the second longitudinal end) of the boat 110 to support the boat 110 on the drive surface Mounted on the frame. In one form, to change the direction of movement of the boat 110, the wheels 201 are connected to the caster wheels (not shown) that rotate freely such that the boat 110 pivots through the differential rotation of the drive wheels 202 caster wheels). In another aspect, in order to change the direction of movement of the boat 110, the wheels 201 may be controlled by, for example, a boat controller 110C (which may control the control of the boat 110, Which are rotatable under the control of a steering wheel. In one form, the boat 110 includes, for example, one or more guide wheels 110GW located at one or more corners of the frame 110F. For example, as described in U.S. Patent Application No. 13 / 326,423, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety, Or on the transfer deck 130B and / or on the elevator modules 150 (not shown) to guide the boat 110 and / or to position the boat 110 at a predetermined distance from where the one or more case units are placed and / (Not shown) within the storage structure 130, e.g., the picking passages 130A, at the interface or at the transfer stations for connecting to the storage system 130. [ As mentioned above, the boats 110 are provided with picking passages 130A having different facing directions to approach the storage spaces 130S located on both sides of the picking passages 130A You can enter. For example, the boat 110 may have an end 110E2 leading into the picking passage 130a or a boat 110 leading to the end of the picking passage 130a leading the end 110E1, .

The payload section 110PL of the boat 110 includes a payload bed 110PB, a fence or datum member 110PF, a delivery arm 110PA and a pusher bar or member 110PR ). In one aspect, the payload bed 110PB includes one or more rollers 110RL mounted transverse to the frame 110F (e.g., relative to the longitudinal axis LX of the boat 110) , One or more case units carried into the payload section 110PL may be longitudinally movable along the longitudinal axis of the boat such that the case unit is placed at a predetermined position within the payload section 110PL (E.g., longitudinally in front of / behind the case units) relative to other case units within the payload section 110PL. In one form, the rollers 110RL may be driven by any suitable motor (e.g., may rotate about their respective axes) to move case units within the payload section 110PL. . In another form, the boat 110 may include one or more longitudinally movable pushers 1102 for pushing the case units over the rollers 110RL to move the case unit (s) to a predetermined position within the payload section 110PL And a bar (not shown). The longitudinally movable pusher bar may be substantially similar to that described, for example, in U.S. Patent Application No. 13 / 326,952, filed December 15, 2011, the disclosure of which is incorporated herein by reference in its entirety herein Which is already incorporated by reference. The pusher bar 110PR may be used in conjunction with a pick head 110 of a fence 110PF and / or a delivery arm 110PA, as described in U.S. Provisional Patent Application No. 62 / 107,135, filed January 23, 2015 (REF) of the boat 110 to perform a lateral justification of the case unit (s) within the payload region 110PL, in the manner described in US Pat. Y direction.

6, the case units are disposed on the payload bed 110PB along the Y processing axis using the transfer arm 110PA and removed from the payload bed 110PB. The transfer arm 110PA may be configured to move substantially parallel to the transfer arm 110PA as described in, for example, U.S. Provisional Patent Application No. 62 / 107,135, filed on January 23, 2015 (the entirety of which is incorporated herein by reference in its entirety) And a lift mechanism or unit 200 located within the load section 110PL. The lifting mechanism 200 is configured to move the pick faces and / or individual case units to the picking and / or storing spaces 130S (e.g., on their respective storage layers 130L on which the boats 110 are disposed) And provides overall and fine positioning of the pick faces carried by the boat 110 vertically elevated to a position within the storage structure 130 for placement. For example, the lifting mechanism 200 enables picking and placement of case units in a plurality of high storage shelf layers 130LS1-130LS4, TL1, TL2 accessible from a common picking passageway or interface station deck 1200S (See, for example, Figures 1b, 2b and 3b).

The lifting mechanism 200 is configured such that combined robot axis movements are performed (e.g., pusher bar 110PR), lifting mechanism 200, pick head extension and, for example, a longitudinally movable pusher bar, / Tailing mechanism (s)), so that each different / multiple-sku or multiple-picking payloads is handled by the boat. In one form, as described below, the operation of lifting mechanism 200 is independent of the operation of pusher bar 110PR. The separation of lifting mechanism 200 and pusher bar 110PR shafts may result in reduced picking / placement cycle time, increased storage and retrieval system throughput and / or increased storage density of the storage and retrieval system, Lt; RTI ID = 0.0 > picking / placement sequence. ≪ / RTI > For example, lifting mechanism 200 enables picking and positioning of case units in a plurality of high storage shelf layers accessible from common picking passageway and / or interface station deck 1200S, as described above.

The lifting mechanism can be configured in any suitable manner so that the pick head 270 of the boat 110 moves in two directions along the Z axis (e.g., to reciprocate in the Z direction - see FIG. 6). In one form, the lifting mechanism 200 includes a mast 200M, and the pick head 270 is movably mounted to the column 200M in any suitable manner. The column 200M is movably mounted to the frame 110F in any suitable manner to be movable along the lateral axis LT of the boat 110 (e.g., in the Y direction to form a Y processing axis). In one form, the frame includes guide rails 210A and 210B, wherein the column 200M is slidably mounted. The delivery arm drive devices 250A and 250B can be mounted to the frame and allow at least the delivery arm 110PA to move along the lateral axis LT (e.g., the Y-axis) and along the Z-axis. In one aspect, the delivery arm drive devices 250A and 250B include an extension motor 301 and a lift motor 302. [ The extension motor 301 may be mounted to the frame 110F and may include a belt and pulley power transmission 260A, a screw drive power transmission device (not shown) and / or a gear drive power transmission device (Not shown) to the column 200M in any suitable manner. The elevating motor 302 may be mounted on the column 200M and may be coupled to a belt or pulley power transmission device 271, a screw drive power transmission device (not shown) and / or a gear drive power transmission device (not shown) And may be coupled to the pick head 270 by any suitable power transmission device. For example, the column 200M includes guides such as the guide rails 280A and 280B, and accordingly the pick head 270 is mounted and moves in the Z direction along the guide rails 280A and 280B. In another aspect, the pick head 270 is mounted to the column in any suitable manner for guided movement in the Z direction. The belt 271B of the belt and pulley power transmission 271 is fixedly coupled to the pick head 270 so that when the belt 271 is moved The pick head 270 moves with the belt 271 and is driven in both directions along the guide rails 280A and 280B in the Z direction. When a screw drive is employed to drive the pick head 270 in the Z direction, a nut is mounted on the pick head 270 so that the screw is rotated by the motor 302 The engagement between the nut and the screw results in the movement of the pick head 270. Similarly, when a gear drive power transmission device is employed, a rack and pinion or any suitable gear drive may drive the pick head 270 in the Z direction. In another form, any suitable linear actuators are used to move the pick head in the Z direction. The power transmission device 260A for the extension motor 301 is substantially similar to that described herein with respect to the power transmission device 271. [

6, the pick head 270 of the boat 110 is coupled to a boat 110 and a case unit picking / placement location, e.g., storage spaces 130S, peripheral buffer stations BS, BSD) and / or interface stations TS (see FIGS. 2A-3B), and in another form, substantially directly between boat 110 and elevator module (s) 150 Case units. In one aspect, the pick head 270 includes a base member 272, one or more branches or fingers 273A-273E, and one or more actuators 274A, 274B. The base member 272 is mounted on the column 200M to move along the guide rails 280A and 280B as described above. The one or more branches 273A-273E are mounted to the base member 272 at a proximal end of the branches 273A-273E to define a distal end 272A- For example, a free end) is cantilevered from the base member 272. Referring again to FIG. 1d, the branches 273A-273E are configured to be inserted between slats 1210S forming a case unit support surface (CUSP) of storage shelves.

At least one of the branches 273A-273E is movably mounted to the base member 272 (e.g., on a slide / guide rail similar to that described above) to be movable in the Z direction. In one form, any number of branches are mounted to the base member 272, and in the form shown in the figures, for example, five branches 273A-273E are mounted to the base member 272 have. Any number of branches 273A-273E are movably mounted to the base member 272. [ In the configuration shown in the figures, for example, the outermost branches 273A and 273E (relative to the centerline CL of the pick head 270) are movably mounted to the base member 272 , And the remaining branches 273B-273D are fixed with respect to the base member 272. [

In this configuration, pickhead 270 uses only three branches 273B-273D to deliver small sized case units (and / or group of case units) to and from boat 110 , Use five branches 273A-273E to deliver larger sized case units (and / or group of case units) to and from boat 110. [ In another form, less than three branches (e.g., when more than two branches are movably mounted to the base member 272) are used to deliver case units of small size. For example, in one form, all of the branches 273A-273E except one may be movably mounted to the base member 272, for example, without interference of the other case units on the storage shelves, And the smallest case unit delivered therefrom has a width X1 between the approximate slats 1210S (see FIG. 1D).

The fixed branches 373B-373D form a picking plane SP of the pick head 270 and are used to deliver case units (and / or pick faces) of all sizes, Branches 373A and 373E may be selectively positioned relative to fixed branches 373B-373D to deliver larger case units (and / or pick faces), e.g., using actuators 274A and 274B In the Z direction). 6, all branches 273A-273E are configured such that the case unit support surface SF of each branch 4273A-4273E is coupled to the picking surface < RTI ID = 0.0 > (E.g., in the Z direction) with respect to the other branches 273B-273D, such that branches 273A, 273E at both ends are movable relative to the other branches 273B-273D , The case unit supporting surface SF of the branches 273A and 273E is offset from the picking surface SP. The branches 273A and 273E do not come into contact with one or more case units carried by the pick head 270 and the storage spaces 130S on the storage shelves or any arbitrary position located in any suitable case unit holding place The unacknowledged case units of the non-picked case units.

Movement of the branches 273A-273E in the Z direction is performed by one or more actuators 274A, 274B mounted at any suitable location of the transfer arm 110PA. In one aspect, one or more actuators 274A, 274B are mounted to the base member 272 of the pick head 270. [ The one or more actuators are linear actuators capable of moving any suitable actuators, e.g., one or more branches 273A-273E, in the Z direction. 6, there is one actuator 274A, 274B for each of the movable branches 273A, 273E so that each movable branch can independently move in the Z direction . In another form, one actuator may be coupled to the one or more movable branches such that the one or more movable branches move in the Z direction as a unit.

Movable mounting of one or more branches 273A-273E on the base member 272 of the pick head 270 may be achieved by mounting large case units on the pick head 270 and / The ability to pick and place small case units without interference with other case units placed on storage shelves, interface stations and / or peripheral buffer stations, for example, to provide. The ability to pick and arrange case units of various sizes on storage shelves, interface stations and / or peripheral buffer stations without interfering with other case units can be achieved by providing a gap G between the case units on the storage shelves 1b). As can be realized, since the branches 273B-273D are fixed to the base member 272, the raising and lowering of the case units and / or pick faces to and from the case unit holding place can only be achieved by the lifting motor 301 , 301A), there is no redundant movement when picking / placing case units.

Referring again to FIG. 6, again with reference to FIG. 5B, the pusher bar 110PR is movable independently of the delivery arm 110A. The pusher bar 100PR is movably mounted to the frame 110F in any suitable manner, for example, by a guide rod and a slid configuration, and extends along the Y direction (e.g., an extension of the delivery arm 110A) / Direction substantially parallel to the return direction). In one aspect, at least one guide rod 360 is mounted within the payload section 110PL so as to extend transversely with respect to the longitudinal axis LX of the frame 110F. The pusher bar 110PR includes at least one slide member 360S configured to be coupled to and slide along a respective guide rod 360. [ In one aspect, at least the guide rod / slide arrangement holds the pusher bar 110PR in a confined manner within the payload section 110PL.

The pusher bar 110PR is operated by any suitable motor and power transmission device, such as motor 303 and power transmission device 303T. In one aspect, the motor 303 is a rotary motor and the power transmission device 303T is a belt and pulley power transmission device. In another form, the pusher bar 110PR may be actuated by a linear actuator having substantially no rotational elements. The pusher bar 110PR is disposed within the payload section 110PL so as to be substantially parallel with the rollers 110RL and not interfere with the pick head 270. As shown in FIG. 10B, the boat 110 is in the form of a carriage, wherein at least one case unit is supported on the rollers 110RL (e.g., the rollers collectively form a payload bed). In the transport mode, the branches 273A-273E of the pick head 270 are engaged with the rollers 110RL and are located below the case unit support surface RSP of the rollers 110RL (along the Z direction) (See Fig. 10). The pusher bar 110PR is configured to have slots 351 (FIG. 10C) through which the branches 273A-273E pass and within the slots 351, branches are positioned below the case unit support surface RSP Sufficient clearance is provided to allow movement of the pusher bar 110PR and to permit free movement of the pusher bar 110PR without interference from the branches 273A-273E. The pusher bar 110PR also includes one or more apertures through which the rollers 110RL pass, the apertures being sized to allow the rollers to freely rotate about their respective axes. The independently actuated pusher bar 110PR can be realized by means of rollers 110PR, an extension of the delivery arm 110PA in the transverse direction (e.g., the Y direction), and an up / down movement of the pick head 270 It does not interfere.

As mentioned above, since the pusher bar 110PR is a separate, independent shaft of the boat 110 that operates without interference from the extension of the pick head 270 and the elevation shafts, the pusher bar 110PR is connected to the delivery arm 110PA And / or < / RTI > The movement of the combined axes (e.g., simultaneous movement of the pusher bar 110PR with the extension of the delivery arm 100PA and / or the elevation axes) provides increased payload handling through the Y processing axis, and one of the picking passages Picking of two or more case units aligned (e.g., in accordance with a predetermined load-out order) from a common picking path in a common path of the plurality of case units. 10-10a, during the multiple-picking / placement sequence of the delivery arm 110PA, the pusher bar 110PR may be configured such that (the case unit (s) and / or the pick face) (S) and / or pick face (CU) when picked / placed from a storage space or other case unit holding location) (Depth of the occupied branches) at a predetermined distance X2 (Fig. 14, block 1100). The distance X2 is the minimum distance that allows sufficient spacing between the pusher bar 100PR and the case unit (s) only to allow the case unit (s) to be seated on the rollers 110RL. The distance traveled by the pusher bar 110PR to contact the case unit (s) CU when the case unit (s) CU is lowered onto the rollers 110RL (Fig. 14, block 1110) Is shorter distance X2 when compared to movement from the back side 402 (with respect to the lateral and access side 401 of the payload section 110PL). When the case unit (s) CU is lowered by the transfer arm 110PA to be supported solely by the rollers 110RL and delivered to the rollers 110RL, ) CU (to the side and approach side 401 of the payload section 110PL) (Fig. 14, block 1120).

For example, the pusher bar 110PR may move the case unit (s) CU in the Y direction (s) so that the case unit (s) contact the fence 110PF (located at the approach side 401 of the payload section 110PL) So that a reference datum of the case unit can be formed through the contact between the case unit (s) CU and the fence 110PF. In one form, a pusher (not shown) is used to hold the case unit (CU) in a predetermined spatial relationship between the case unit (s) CU and the reference frame REF The bar 110PR may engage or otherwise grip the case unit (s) CU (e.g., to hold the case unit (s) against the fence 110PF) during carriage of the case units (Fig. 14, Block 1130. Upon placing the case unit (s), the pusher bar 110PR is brought into contact with the case unit (s) CU after aligning the case unit (s) CU with respect to the fence 110PF (Fig. 14, block 1140). After the pusher bar 110PR separates the case unit (s) CU substantially immediately, one or more lifting axles < RTI ID = (E.g., the Z direction) and the extension axis (e.g., the Y direction) are operated substantially simultaneously with the recovery movement of the pusher bar 110PR 1150. In an aspect, when the pusher bar is withdrawn from contact with the case unit (s) CU, both the lifting and extending axes are actuated while in another form, one of the lifting and extending axes Reduction of the travel distance of the pusher bar to align the case unit (s) (CU) as well as the simultaneous movement of the lifting axis and / or extension axis of the delivery arm 110PA and the pusher bar 110PR, , Reduces the time required to transfer the case unit (s) (CU) to the boat (10) and increases the throughput of the storage and retrieval system (100).

2a, 2b, and 12, each boat 110 is coupled to a pick-and-place path 130a between picking passages 130A and transfer / handoff stations TS and buffer stations BS, Lt; / RTI > In one form, the control server 120 commands the boat 110 to determine whether the boat 110 is in the case order (s), regardless of the picking order of the cases from the storage area by the boat 110 forming the pick- (Which may be referred to as order fulfillment stream, outbound stream (s), or order fulfillment) of the outbound stream (s). In one form, the boat controller 110C commands the boat 110 to determine whether the boat 110 is in a case order (regardless of the picking order of the cases from the storage area by the boat 110 forming the pick face) Lt; RTI ID = 0.0 > outbound flow < / RTI > In another aspect, both the control server 120 and the boat controller 110C may be commanded to the boat 110 so that the boat 110 forming the pick face, regardless of the picking order of the cases from the storage area, , The boat 110 is configured to perform an outbound flow classification of the case order (s). Thus, the control server 120 and / or the boat controller 110C may be configured, at least in part, to be coupled to a boat of cases (not shown) that are commonly carried by the boat 110 and separated from the picking sequence of cases by the boat 110 110) < / RTI > classification.

Each boat 110 may be coupled to a first pickface interface station (e.g., a transfer / handoff station TS and / or a buffer station BS) Hand-off station (TS) and / or buffer station (BS) spaced from a station (e.g., a first pickface interface station), and the boat 110, By picking up the first pick face from the first interface station and traversing the transfer deck 130B to place / cushion the first pick face or at least a portion thereof at the second pick face interface location, (CS) of a plurality of packed cushion faces on an ordered sequence in accordance with a predetermined case output ordering order of mixed case pick faces on a common support / I have paces. As described below, the boat 110 includes a first pickface (s) having any suitable number of case unit (s) from the picking passages 130A (or transfer station TS or buffer station BS) PCF1 and sends a second pickface PCF2 different from the first pick face to a transfer / handoff station TS (or a buffer station BS) common to both the boat 110 and the elevator 150B. For example, on a common surface CS of a rack shelf (e.g., a rack shelf (RTS)), which can be outboard The first and second pick faces, in one form, have at least one case unit that is common to both the first and second pick faces, as will be described below. In the form, as described herein, the boat 110 (For example, in a multiple-picking / placement sequence) while traversing from the first picking location in the picking passage 130A to the delivery / handoff station TS (or buffer station BS) (E.g., while the boat is moving) and a first pick face (e.g., at least one of a plurality of pick faces) on the boat 110. In another form, / Batch sequence, while traversing from the first picking location in the picking passage 130A to the delivery / handoff station TS (or buffer station BS) to the placement of the second pickface (e.g., (E.g., at least one of a plurality of pick faces disposed on the common surface CS) while the second pick face interface is stationary on the second pick face interface station or the second pick face interface station buffer . The pick faces can be picked from the first pick face interface station, e.g., the transfer station (TS) or the interface station (BS), by the boat 110 and the second pick face interface station, When placed in the transfer station (TS) or the buffer station (BS), the pickface bypasses the pool (e.g., is not placed in the storage space (130S) before being delivered to the second pickface interface station). In another form, at least a portion of the picked pick face from the first pick face interface station is coupled to a storage space 130S (e.g., a storage rack array (RMA)) by a boat 110 before being transported to a second pickface interface station. . In one form, the picked pick face from the inbound transfer station TS (or buffer station BS) may be the same as the pick face placed in the outbound transfer station TS (or buffer station BS) (I.e., the pickface is not broken down during transport from the inbound transfer station (TS) / buffer station (BS) and the outbound transfer station (TS) / buffer station (BS)) and transport between the inbound and outbound stations And may or may not include placement of the pickface within the reservoir).

The controller 110C of the boat 110 is configured to perform an instantaneous formation of a first pick face (or any other pick face picked by the boat 110). In one form, the boat 110 is configured to build a pick face on the boat 110, e.g., in the payload section 110PL, as described herein, and the case units / And arranged in a payload section in a predetermined sequence or sequence. In one aspect, in one aspect, the boat 110 also picks / forms a different pick face PCF3 than the first pick face PCF1, and transmits / receives another pick face PCF3 to the transfer / handoff station TS (Or another rack shelf (RTS) stacked above or below a rack shelf forming a common surface CS) of a shelf (e.g., a buffer station BS). The boat 110 includes a manipulation, as described herein. The boat picks up the first pick face PCF1 and picks up the second pick face PCF1 from one or more case units (forming another pick face PCF3) from a rack shelf RTS (or another place such as a storage shelf in the picking passageway) Pick face PCF2 and to place another pick face PCF3 on the common surface CS. As may be implemented, the elevator 150B is configured, in an aspect, to pick a second pick face PCF2 from the transfer / handoff station TS. In another form, the elevator 150 may be configured to move from a common surface CS (e.g., a rack transfer shelf (RTS)) of a transfer / handoff station TS (or buffer station BS) Wherein the third pick face PCF4 is different from the first and second pick faces PCF1 and PCF2 and the common case is configured to pick up the first, Common to the pick faces (PCF1, PCF2, PCF4). As a second interface station (e.g., a transport station (TS) or buffer station (BS)) that may be implemented forms a common pick-face transfer interface station, the commonly supported pick faces are shared by the elevator 150 . The ability of elevator 150 to pick individual pick faces from different deck layers, respectively, is to perform the classification of pick faces in the Z processing axis, as mentioned above.

In one aspect of the disclosed embodiment, to further increase the throughput of the storage and retrieval system 100 and to perform a multi-picking / placement sequence in accordance with a predetermined order output order, as may be implemented, In the picking / placement sequence, multiple case units are manipulated (e.g., to form one or more pick faces) substantially simultaneously within the payload section 110PL. 1, the boat receives picking and placement commands from, for example, control server 120 (and / or warehouse management system 2500), and boat controller 110C receives the picked- Execute these commands to form a multi-pick. Here, the boat 110 enters the common passage 130A1 from the transmission deck 130B, for example, to make a single or common pass through the picking passage 130A1, while the boat 110, Picks two or more case units according to a predetermined order output order (Fig. 15, block 1201A). In one form, the operation of the case units CU is the sorting of the case units (i.e., the picking and placement of the case units according to a predetermined load-out sequence) The other case units are disposed on the transfer arm 110PA for placement and / or the case units are disposed on the transfer arm 110PA without being transferred, while the other case units are transferred to and from the transfer arm 110PA. Here, the boat 110 moves in the direction of the arrow XC through the common picking passage 130A1 and stops in the predetermined storage space 130S1 according to a predetermined order output order, The delivery arm 110PA picks one or more case units from the predetermined storage space 130S1 and places them on the common delivery arm 110PA of the case units in a predetermined order output order (E.g., the case units are sorted on-the-fly by the boat 110 during transport).

10B-e as an example of case operation in the boat 110, the case unit (s) 7 may be placed in a case unit holding location (e.g., storage in a common picking passage for performing aligned multiple- Space 130S and, in another form, from the elevator interface station TS and / or from the case unit buffer station BS located in the picking passage or on the transfer deck), and the payload section 110PL (Fig. 15, block 1201B). When the case unit (s) CUA is lowered (FIG. 15, block 1204) for delivery to the rollers 110RL when the case unit (s) CUA is transferred into the payload section 110PL, The pusher bar 110PR may be pre-positioned adjacent the fence 110PF such that the pusher bar 110PR is disposed between the case unit (s) CUA and the fence 110PF (Fig. 15, block 1205). The pusher bar 110PR is actuated to push the case unit (s) (CUA) (resting on the rollers 110RL) in the Y direction towards the rear (e.g., rearward) 402 of the payload section 110PL , The case unit (s) CUA contacts the justification surface 273JS (Fig. 10) of the branches 273A-273E and is fitted to the rear 402 of the payload section 110PL (Fig. 15, block 1210).

In one form, the boat 110 may be coupled to the common picking passageway 130A1 (e.g., so that all case units in the multiple-picking bodies aligned with the boat 110 moving in a single direction are picked at the common path of the picking passageway) Continues in the same direction XC and stops at yet another different predetermined storage space 130S according to a predetermined order output order. As mentioned above, during transport of the case unit (s) (CUA) between the case unit holding locations, the case unit (s) (CUA) The pusher bar 110PR is in continuous contact with the case unit (s) CUA so that the pusher bar 110PR remains at a predetermined location (and / or in a predetermined position in the longitudinal direction in the X direction) at the rear 402 of the case unit For example) (Fig. 15, block 1215). For example, in order to pick up the next case units from the other storage space 130S2 of the common picking passage 130A, the pusher bar 110PR moves in the Y direction to separate the case unit (s) CUA And the extension axis of the transfer arm 110PA is connected to the storage space 130S2 from another storage space 130S2 (or, in another form, as mentioned above, for example an elevator interface / handoff station TS and / (Fig. 15, block 1220) to withdraw another case unit (s) CUB. While the case unit (s) CUB are being picked, the pusher bar 110PR is moved to the payload section (YU) in the Y direction to be positioned between the case units CUA and the mating surfaces 273JS of the branches 273A- 110PL) (Fig. 15, block 1225). The case unit (s) CUB is delivered into the payload section and is lowered / placed on the rollers 110RL so that the case units CUA and CUB are arranged relative to each other along the Y axis (Fig. 15, Block 1230). The pusher bar 110PR is configured to move the case units CUA and CUB forward (Fig. 15, block 1234) and hold the case units CUA and CUB for carrying (Fig. 15, block 1235) Direction so as to push the case units CUA and CUB toward the fence 110PF. As can be realized, in one form, the case units CUA and CUB are arranged together as one unit in the case unit holding place, while in another form, as will be described in more detail below, The case units CUA and CUB are sorted and transported and arranged at different locations of the common case unit holding place, for example, or at different case unit holding locations (Fig. 15, block 1240). For example, referring to FIGS. 7-9, a boat 110 carrying an aligned multi-picking payload may include case units of an aligned multi-picking member corresponding to the output elevators 150B1 and 150B2 To one or more interface stations TS (which includes buffer shelves 7000A-7000L).

As may be implemented, in one aspect, the boats 110 may be "parallel parked" to the interface station TS (Fig. 7) or rotated into the piers 130BD The spacing between the boats traveling on the high speed boat travel path HSTP of the transmission deck 130B can be reduced without substantial interference and / or interference from another boat 110 moving along the transmission deck 130B, The boat connected to the station TS can be decelerated and rotated into the interface station TS. In another form, as described above, the transfer technology (s) 130B are substantially open and configured for non-critical crossing of the boats 110 across and following the transfer deck (s) , The boats moving on the transmission deck can run around the rotating boats into the interface stations. When the case units of the multiple-picking material are disposed at different locations of the common buffer shelf of the interface / handoff station 7000A-7000L of elevators 150B1, 150B2, for example, (For illustrative purposes, corresponding to the pick face 7 of FIG. 9 including a single case unit in this example), a first one of the case units CUB is connected to the buffer shelf 7000B (Corresponding to the pick face 5 of FIG. 9, which in this example comprises a single case unit, for example purposes), and a second one of the case units CUA Is disposed at the second position of the buffer shelf 7000B. In the case where multiple case units of picking material are arranged in a common case unit holding location, the boat 110 can be configured to hold both case units CUA and CUB (for illustrative purposes, in this example two case units (For example, one pick face) (corresponding to the pick face 9 in FIG. 9), for example, at a common position of the buffer shelf 7000A.

When the case units CUA and CUB are classified to be placed at different positions of the common case holding place or at different case holding positions (Fig. 15, block 1250), the case units CUA CUB, Are separated from each other within the payload section 110PL. For example, in order to raise the case units CUA and CUB from the rollers 110RL, the pick head 270 of the delivery arm 110PA is configured such that the pusher bar 110PR passes under the case unit (s) (Fig. 16, block 1250A). As the case units CUA and CUB are raised, the pusher bar 110PR is disposed along the Y direction so as to be positioned between the case units CUA and CUB (see Fig. 10E) (Fig. 16, block 1250B). The pick head 270 is lowered so that the case units CUA and CUB are transferred to the rollers 110RL and the pusher bar 110PR is inserted between the case units CUA and CUB 1250C). Pusher bar 110PR is configured to urge casing unit (s) CUA toward rear 402 of payload section 110PL (e.g., branches 273A- The case unit (s) CUB are moved in the Y direction to move the fence (e. G., As shown in FIG. ≪ RTI ID = 0.0 > 10C) Remains in front of the payload section 110PL adjacent to the payload section 110PF (Fig. 16, block 1250D).

As can be realized, when the case units are held against the mating surfaces 273JS of the branches during transport, the pusher bar may move the case unit (s) CUB (for example, to separate the case unit The case unit (s) CUB are moved in the Y direction to move towards the front 401 of the payload section 110PL (e.g., to the fence 110PF or any suitable position) Remains behind the payload section 110PL adjacent the fitting surface 273JS. The pusher bar 110PR is configured to return the case unit (s) CUB to the fence 110PF again to arrange the case unit (s) on the branches 273A-273E for placement in the case unit holding location May be moved in the Y direction to re-justify (Fig. 16, block 1250E). With the case unit (s) (CUA) to be placed against the mating surface 273JS of the branches 273A-273E of the branches 273A-273E substantially, ) CUB may be disposed substantially at the case unit holding location without interference from the case unit (s) CUA (Fig. 16, block 1250F). For example, the case unit CUA may be located at the case unit holding location And does not contact the case units. (E.g., by retracting and lowering the delivery arm 110PA), the case unit (s) CUA is retracted / delivered into the payload section 110PL (Fig. 16, block 1250G). The pusher bar 110PR previously disposed between the fitting surface 273JS and the case unit (s) CUA is configured so that the case unit (s) CUA disposed on the rollers 110RL CUA is pushed against the fence 110PF to place the case unit (s) (CUA) in front of the fence 110PF for placement in another case unit holding place (different from the holding place where the CUB (Fig. 16, block 1250H). The pusher bar 110PR remains with respect to the case unit (s) (CUA) to catch the case unit (s) (e.g., with the fence) during transport to another case unit holding location. The pusher bar 110PR is moved away from the case unit CUA and the delivery arm is actuated to lift and extend the pick head 270 to place the case unit (s) CUA in another case unit holding location (Fig. 16, block 1250J).

One example of the case unit (s) transfer process of the boat 110 is to form a mixed pallet load (MPL) (as shown in FIG. 1F) and / To fill a predetermined ordering order of the picked articles in one or more bag (s), tote (s) or other container (s) (TOT) according to order output order Picking and placement of the case unit (s) using instant sorting of the case units, which will be described in connection with Figures 9 and 11-13 in accordance with the aspects of the disclosed embodiments. For example, referring to FIG. 11, a customer order may require that the case unit (s) 7 be delivered to the output elevator 150B1 and that the case units 5 be also delivered to the output elevator 150B1 (In another form, customer orders may require that the case units carried by the common boat 110 be delivered to different output elevators 150B1, 150B2 (FIG. 9) Note that the delivery of the case units carried by the different output elevators takes place in a manner substantially similar to that described herein. In the aspects of the disclosed embodiments described herein, the output elevators 150B1 (e.g., the respective output elevators 150B1, 150B2 / order fulfillment system of the storage and retrieval system) are coupled to a mixed case pick- Form a fulfillment course or path (also referred to as a stream) of paces, wherein the mixed case-pick faces come in and out of the transition course in substantially the same order. Although the input and output elevators 150A and 150B have been described as vertical reciprocating elevators that may be implemented, in other aspects, the input and output elevators 150A and 150B are configured to couple the case pick faces to the storage structure 130 (E.g., an individual pick-face interface station such as a transfer station (TS) or a buffer station (BS)) and an input station 160 IN, e.g., an input cell , And output station 160UT, e.g., between each of the load fill sections / cells). For example, in another form, the elevator modules 150A and 150B may be configured to include vertical reciprocating lifts, any suitable automated material handling systems, turnbearers, boats, Or a multi-layer vertical conveyor (e.g., a circulating conveyor) that operates asynchronously or asynchronously. In order to efficiently use each of the boats 110 in the storage and retrieval system 100, the controller, e.g., the control server 120, is configured such that the case units 5, 7 are placed in any picking passageway . The controller is also responsible for determining which inbound case unit (s) (ISU) will be stored in the picking passage (s) and which case units 5,7 (e.g. outbound case units) It is determined whether or not to be picked. The controller sends commands to the boat 110 on the floor on which the case units 5,7 are disposed to send commands from the interface station (TS) of the one or more elevator modules (150A) to the one or more inbound cases Units (ISU) (Fig. 17, block 1400A). The boat 110 holds the case unit (s) ISU (Fig. 17, block 1420) and delivers the case unit (s) to one or more storage spaces 130 within one or more of the picking passages 130A2 (FIG. 17, block 1421), wherein at least one of the picking passages in which the inbound case units are disposed comprises one of the outbound case units 5,7. As may be implemented, the inbound case units are located in different storage locations 130S and the inbound case units are sorted as described above (Fig. 17, block 1425), wherein one or more case unit (s) 17, block 1430), while the untransferred case and other case units are transferred to a unit holding location, e.g., storage space 130S or buffer (FIG. 17, block 1430) (Fig. 17, block 1435).

As can be realized, the outbound case units 5, 7 are arranged in the same or different picking passages, and are arranged in the predetermined storage location (s) of the inbound case unit (s) And is then drawn by one boat 110 or each of the other boats 110. For example, referring to FIG. 11, a boat 110 (in a manner substantially similar to that described above) may be mounted on an elevator casing unit (ISU) for placement in a picking passage 130A2 in which a case unit 5 is disposed, And picks it up from the interface station TS of the module 150A. In this example, the case unit 7 is disposed in the picking passage 130A1. After placement of the inbound case unit ISU the boat continues to move along a common path (e.g., a single crossing of the picking path in a single direction) along the picking passage 130A2 to pick out the outbound case unit 5 17, block 1400). In the case where it is more efficient for a single boat 110 to pick up a plurality of case units, the outbound case unit 5 is aligned on the boat 110 as described above (FIG. 17, FIG. 1405) (The second outbound case is disposed in a common path with the first outbound case, and the outbound case units 7 of both the outward case units 7A, Is picked to the common delivery arm 110PA (FIG. 6) of the boat 110 in the common path of the picking passageway). The second outbound case unit 7 is picked into the common delivery arm 110PA (Fig. 17, block 1410) and in a manner substantially similar to that described above for the placement of the inbound case unit (s) The units 5,7 are both arranged to be transferred to at least one of the peripheral buffer stations (BS) and the interface stations (TS) of the pick-plane transport system, e.g., the elevator module 150B (Fig. 17, Blocks 1420- 14). When it is efficient to have one of each of the case units 5, 7 picking after two different boats 110 pick their respective outbound cases (Fig. 17, block 1400) 17, blocks 1421-1435 (FIG. 17, block 1420) are placed and delivered to one of the peripheral buffer stations (BS) or interface stations (TS) of the outbound elevator 150B In one form , A boat 110 different from the boat in which the case unit 5 is disposed in the peripheral buffer station B is provided with an outboard unit such as a case unit 5 disposed in a peripheral buffer station BS The same boat 110 transfers the case unit 5 to a peripheral buffer station BS for transferring the case unit 5 to the interface station TS, The buffer station BS and / or the transfer station TS (e.g., at least one pick-off handoff station) may be in a predetermined order of load fill One or more of the mixed case-pick faces forming part of the mixed case-pick faces going out of the storage array / structure 130 into the transitional course in an ordered- (BS) and / or transfer stations (TS) form a common peer-to-peer forwarding interface for the outbound elevator (s) (150B1). In one or more of the described embodiments described herein, the buffer station , The commonly supported pick faces are commonly picked by the outbound elevator (s) 150B1. In one or more aspects of the disclosed embodiments described herein, each of the buffer stations (BS) and / or the transfer stations (TS) comprises a mixed case out of the storage array in an ordered sequence based on a predetermined order of load fill And one or more of the mixed pick faces forming part of the pick faces (for illustrative purposes only, the pick faces 1-4 in FIG. 9). In one or more aspects of the disclosed embodiments described herein, it may be advantageous to form a portion of the mixed case-pick faces exiting the storage array / structure 130 in an ordered sequence, (E.g., mixed cases out of the outbound elevator 150B2) on another buffer station (BS) and / or a transfer station (TS) of another transfer course, Lt; / RTI > In one or more aspects of the disclosed embodiments, a controller, e.g., controller 120, communicates with the boat (s) 110 and is configured to communicate with the buffer station (BS) and / To perform placement of the pick faces.

In one form, the outbound case units are picked and delivered as one unit (e.g., one pick face) by the common delivery arm 110PA (FIG. 6) of the boat 110. 12, a customer order may require that the case unit (s) 7 be delivered to the output elevator 150B1 and the case units 5 be delivered to the output elevator 150B1 The customer order may require that the case units carried by the common boat 110 be delivered to different output elevators 150B1 and 150B2 (FIG. 9), respectively, The transfer of the units to different output lifts is done in a manner substantially similar to that described herein). As described above, the controller is configured to determine which inbound case unit (s) (ISU) will be stored in the picking passage (s) and which case units (5, 7) Case units) are to be picked. The controller sends commands to the boat 110 on the floor on which the case units 5 and 7 are located to send commands from the interface station TS of the elevator module 150A to one or more inbound case units (FIG. 17, block 1400A) as one unit (e.g., a pick face). The boat 110 grasps the pick face PF1 (Fig. 17, block 1420) and places the pick face PF1 in a storage space (not shown) inside the picking passageway 130A2 where the outbound case units 5, (Fig. 17, block 1421), and the pick face PF1 is placed inside the storage space 130S (Fig. 17, block 1430). After all the pick faces have been transferred to the common storage space and the case units remaining on the boat have disappeared, in this example, block 1435 of FIG.

After placing the inbound pickface PF1, the boat 110 is moved to a common path (e.g., a single traversal of the picking path in a single direction) through passageway 130A2 to outbound case units 5,7 And are placed adjacent to each other on the storage shelves so that they are simultaneously picked out as outbound pick faces PF2). The boat 110 picks the pick face PF2 with the common delivery arm 110PA (Fig. 6) (Fig. 17, block 1415) and grasps the pick face PF2 (Fig. 17, block 1420) The pick face PF2 is conveyed to the outbound elevator 150B1 (Fig. 17, block 1421). In one form, the case units 5,7 of the pickface PF2 are arranged as one unit in one of the peripheral buffer stations BS or the interface station TS (Fig. 17, block 1430). In another form, the case units 5,7 of the pick face PF2 are separated and aligned (in a manner similar to that described above) for placement in different places (Fig. 17, block 1425). For example, the boat 110 places the case unit 7 in a peripheral buffer station BS (Fig. 17, block 1430) and returns the case unit 5 to the payload area of the boat 110 (Fig. 17, block 1435), holding the case unit 5 (Fig. 17, block 1420), carrying the case unit 5 to the interface station TS To the interface station TS (Fig. 17, block 1430).

13, the outbound case units 5, 7 are connected to the common delivery arm 110PA (FIG. 6) of the boat 110 from respective different storage locations within the common passage 130A1, . Here, the boat 110 is connected to one or more inbound case units ICU in the manner described above with a common picking passageway (not shown) in which one or more of the inbound case units ICU, together with the outbound case units 5, 130A2. ≪ / RTI > After placing at least one inbound case unit in the predetermined storage location 130S of the passage 130A2 the boat 110 continues to move through the picking passage 130A1 with the common path of the picking passage 130A2 , And picks the case unit 5 from the storage space 130S1 in the manner described above (Fig. 17, block 1405). The case unit (s) (5) And is oriented toward the back of the payload section 110PL on the boat 110, as described above (Fig. 17, block 1405). The boat 110 continues to move through the picking passage 130A1 in the common path of the picking passage and picks up the case unit 7 from the other storage space 130S2 using the common transfer arm 110PA, (5, 7) are disposed adjacent to each other on the common transfer arm 110PA yarns (Fig. 17, block 1410). The controller 110C may be configured to perform the picking of the case unit (s) in the proper order of, for example, in the reverse order of the order in which the case unit (s) are placed .

In this multi-picking example, the case unit holding location (s) corresponds to the storage spaces 130S of the picking passages 130, but in other aspects, the case unit holding location (s) (TS, BS) for connecting to the input elevator modules 150A1, 150A2 (where direct transfer takes place between the boats and the elevator), the input elevator modules 150A1, 150A2 (Indirect transfer takes place between the boats 110 and the boats), and storage spaces 130S (picking by the boat 110 from the interface station TS and the input elevator modules 150A, It is noted that the case units required for the output order are not placed in the storage spaces 130S but are input in time into the storage rack array to be delivered substantially directly to the output elevator (s) 150B1, 150B2 ).

The boat 110 grasps both of the case units 7,5 within the payload section 110PL in the manner described above and exits the picking passage 130A1 (Fig. 17, block 1420). The boat moves along transmission deck 130B and connects with output elevator 150B1 (Fig. 17, block 1421). The boat separates the case units 7,5 within the payload section 100PL as described above, so that the case unit (s) are fitted in any suitable manner. For example, the case unit (s) 7 are aligned toward the front of the payload section 110PL and the case unit (s) 5 are aligned toward the back of the payload section 110PL , Block 1425). The case unit 7 is transferred to a peripheral buffer station BS (Fig. 17, block 1430). The boat returns the delivery arm 110PA to return the case unit (s) 5 to the payload section 110PL (Fig. 17, block 1435) and catches the case unit 5 (Fig. 17, block 1420 ). The case unit (s) 5 is conveyed to the interface station TS of the output elevator 150B1 (Fig. 17, block 1421) and aligned towards the front of the payload section 110PL 17, block 1425) and forwarded to the transfer station TS as described above (Fig. 17, block 1430). In another form, in accordance with a predetermined case unit output order, the boat 110 places the case unit (s) 7,5 in a common location / location, e.g., one of the output elevators 150B1, 150B2 . For example, the pickface 20 on the shelf 7000H (FIG. 9) may include both case units 7, 5, wherein the sacrificial boat 110 includes both case units, And is placed at a single position of the shelf 7000H as a unit pick face. As may be implemented, the case unit (s) disposed in the buffer station BS is, in one form, conveyed by the boat 110 to the interface station TS or, in another form, BS) to the interface station (TS) by any suitable conveyor. In one form, when the case unit (s) is transferred by the boat 110 from the buffer station (BS) to the interface station (TS), the transfer is opportunistic transfer, The boat 110 moving along the transfer deck to another route for movement (e.g., transferring the pickface (s) to the store, sorting the pick faces, dispatching the pick face (s) During the course of performing another task, the buffer station (BS) stops to pick the pickface from the buffer station (BS) and passes the pickface to the interface station (TS).

One example of the case unit (s) transfer process of the boat 110 is to instantly sort the case units to form a mixed pallet load (MPL) (as shown in FIG. 1F) in accordance with a predetermined order output order Pick-and-place operation of the used case unit (s), which will be described in connection with Figs. 9 and 24, in accordance with the forms of the disclosed embodiments. The transmission of pick faces associated with Figs. 9 and 24 is substantially similar to that described above with respect to Figs. 11-13. In this version, however, the storage of the pick face is bypassed so that the pick faces are substantially directly transferred between the inbound and outbound elevators 150A and 150B1. In one form, the boat picks up the first pick face 5 from a first pick face handoff station, such as the transfer station TS of the inbound elevator 150A, which in turn picks one or more pick faces / Cases on the face-off handoff station (Fig. 23, block 2300). The boat 110 traverses the transmission deck 130B and connects the first pickface 5 (or a portion thereof) to the buffer station BS of the transfer station TS of the outbound elevator 150B1, for example To a second shelf of the same second pickoff handoff station (Fig. 23, block 2310). In another aspect, the first pickface 5 (or portion thereof) is buffered on the transfer station TS of the outbound elevator 150B1 rather than the buffer station BS. The boat 110 forms a second pick face 5,7 on the second shelf and the second pick face is different from the first pick face 5 and corresponds to a predetermined case output ordering order of the mixed cases Wherein the first pick face 5 and the second pick face 5, 7 have at least one case in common (Fig. 23, block 2320). In one aspect, the boat 110 is configured to support a second pick face 5, 7 on a second shelf (e.g., a buffer station BS) during transport of the first pick face 5 between the first shelf and the second shelf, Or transfer station (TS)). In one form, the boat forms a second pick face 5,7 on the autonomous vehicle. In one form, the boat 110 forms a second pick face 5,7 in the buffer portion of the second shelf or the second shelf. In one form, the boat 110 is configured to receive at least some of the first pick faces picked from the first shelves (wherein the pick faces 5 include one or more cases) And placed on a storage rack (e.g., storage spaces 130S). In an aspect, the second shelf forms a common pick-face transfer interface for the vertical pick-up elevator, and the method further includes the step of collectively picking commonly supported pick faces with the vertical pick-up elevator.

24 is shown picking one case / pick face 5 from the inbound elevator 150A, but in another form the boat 110 is shown as having two (or more) inbound pick faces For example, cases / pick faces 5,7. Here, in one form, the boat 110 places one pick face 5 on the outbound buffer station BS (or outbound transfer station TS), and then the second pick face (BS) To another shelf place (e.g., another outbound buffer or transfer station (BS, TS) or a common buffer or adjacent place on the shelf of the transfer station (BS, TS)) In one form, elevator 150B1 removes pickface (s) 5,7 from buffers or transfer stations (BS, TS), as described herein. In another form, the boat 110 places both pick faces 5,7 on an outbound buffer or transfer station (BS, TS) shelf. Here, the elevator 150B1 picks one of the pick faces 5, 7 and conveys the pick faces 5, 7 to the output section 160UT. The elevator 150B1 returns to the buffer or transfer station (BS, TS) shelf and picks the other pick faces 5,7 to deliver to the output station 160UT. In another form, the boat 110 places both of the pick faces 5,7 in an outbound buffer or transfer station (BS, TS) shelf, and the elevator 150B1 is used for delivery to the output station 160UT Pick faces 5 and 7 are both picked. Here, as shown in Fig. 1F, the pick faces 5, 7 are combined or handled together to form a mixed pallet.

In the examples described herein, the transfer of the case units between the boats 110 and the elevators 150 occurs passively through the interface station ts as described above. 18, an autonomous transport vehicle is positioned relative to an interface station TS in a manner similar to that described above with respect to slats 1210 and / or positioning features 130F 18, block 1800). The transfer arm 110PA (e.g., the end effector) of the boat 110 is extended to transfer the pick face to the interface station TS and the fingers 273A-273E of the transfer arm 110PA are extended, for example, , And connects to the slats 1210S of the interface station TS (Fig. 18, block 1801). As noted above, multiple pick faces can be placed on the interface station TS for simultaneous and independent delivery to the elevator 150 (e.g., Held simultaneously on the station). The elevator 150 is moved to place the load handling devices (LHD, LHDA, LHDB) adjacent to the interface station TS (Fig. 18, block 1802). The load handling devices LHD, LHDA, and LHDB are extended to raise the pick face from the interface station and deliver the pick face to the elevator 150, and the fingers 4273 of the load handling devices (LHD, LHDA, LHDB) (FIG. 18, block 1803), for example, in the manner described above in connection with FIG. 4B. As can be realized, the interface station TS has no moving parts and the transfer of the pick face (s) between the boats 110 and elevators 150 via the interface station TS is a passive transmission . As can be realized, the transfer of pick faces from elevators 150 to boats 110 occurs in a manner substantially opposite to that described above with respect to FIG.

In one form, the pickface constructed by the boat 110 (e.g., in the manner described above) and delivered to, for example, the interface station TS (and / or the buffer station BS) (And / or the buffer station (BS)) by the interface station (s) For example, referring to FIG. 9, a boat 110 may be moved from storage spaces 130S within rack modules RM (e.g., FIG. 2A) containing individual pick faces 7,5 1 < / RTI > face (Fig. 19, block 1900). The boat 110 conveys the first pick face to the shelf 7000B of the interface station TS, for example, for delivery to the vertical elevator 150 and places the first pick face on the shelf 19, block 1910). As can be implemented, in this example, for illustrative purposes only, the individual pick faces 5,7 (which form, for example, the first pick face) are disposed on a common shelf 7000B 7 < / RTI > are arranged on different shelves 7000A-7000F, respectively, so that the pick face placed on the shelves by the boat 110 is positioned on the first pick face < RTI ID = But at least one case unit is common to the first pick face. For example, as the first pick face is disassembled, another pick face including the individual pick face 5 is placed on the shelf 700B, while another pick face including the individual pick face 7 , For example, on the shelf 7000H. A vertical lift, e.g., lift 150B1, picks up the second pick face from one or more shelves 7000A-7000F of the transfer station TS (e.g., common to boat 110 and vertical lift 150B1) (Figure 19, block 1920). Here, the second pick face is different from the first pick face but includes at least one of the individual pick faces 5, 7 so that at least one case unit is common to the first pick face and the second pick face to be.

Similarly, in one aspect, for example, an inbound vertical elevator 150 (shown in FIG. 1 by a vertical elevator 150A) may be coupled to an interface station TS (and / or a buffer station BS The pick face is not identical to the pick face picked from the interface station TS (and / or the buffer station BS) by the boat 110. In one aspect, To the boat 110 which forms a pick face at the handoff station TS (and / or the buffer station BS), regardless of the picking order of the cases from the input station by the elevator 150 The boat controller 110C instructs the boat 110 to move the elevator 150 to the elevator 150. The elevator 150 is configured to execute the inbound flow of the elevator 150, which may be referred to as a warehouse supplement or outbound stream (s) From the input station Is configured to perform inbound flow case classification from a handoff station (TS) (and / or buffer station (BS)) to a boat (110) forming a pick face, regardless of the picking order of the cases. Both the control server 120 and the boat controller 110C command the boat 110 to determine whether or not the handoff station TS (and / The control server 120 and / or the boat controller 110C are configured to perform inbound flow case classification to a boat 110 that forms a pick face at a buffer station (BS) Is configured to set the inbound case flow to the boat 110 classification of cases carried in common by the elevator 110 and separated from the picking order of the cases by the elevator 150. For purposes of illustration, The first pick faces may be referred to as an inbound flow case classification by the boat 110 at a de-active station TS (and / or buffer station BS). For example, referring to FIG. 9A, (S) 160IN to one or more vertical elevators 150A1, 150A2 by inbound conveyors 160CB. In this example, one of the first pick faces includes a combination of separate pick faces 5,7 while the other first pick face includes a combination of individual pick faces 20,22 do. The vertical elevator 150A1 places the first first pick faces 5,7 on the shelf 7000B of the interface station TS while the vertical elevator 150A2 places the other first pick faces 20 and 22 are placed on the shelf 7000H of another interface station TS on the same storage layer 130L (Fig. 20, block 2010). The boat 110 may be configured by the vertical elevators 150A1 and 150A2 to construct a second pick face (s), or otherwise picking a second pick face (s) from the interface station (s) (S) disposed on the shelf (s) 7000BM 7000H (common to both the boat 110 and the respective vertical elevators 150A) is different from the first pick face, but the second pick face For example, the first pick faces 5, 7 are disassembled to form a separate pick face 5 (or an individual face 5) The second pick faces 20 and 22 are disassembled and the individual pick faces 20 (or the individual picks 20) are picked by the boat 110 and / (22)) are picked by the boat (110). Here, the second pick face is different from the first pick face, but includes at least one of the individual pick faces of the first pick face so that at least one case unit is common between the first pick face and the second pick face to be. As can be realized, the second pick face can be disassembled by a boat, the pick face disposed on at least one storage shelf by the boat 110 is different from the second pick face, The unit is common between the second pick face and the pick face disposed on at least one storage shelf.

The output lifts 150B1 and 150B2 deliver the aligned multi-picking (s) disposed on the shelves 7000A-7000F by the boat 110 to the output station 160UT in accordance with a predetermined order output order do. For example, referring again to FIG. 9, the pick faces 1-22 are picked in order by the elevators 150B1, 150B2 in sequence, thereby forming a mixed pallet load MPL (FIG. 1F) The pick faces 1-22 required to be delivered to the output station 160UT in a predetermined order (indicated, for example, by the number associated with each case unit / pick face shown in FIG. 9) and / At the operator station 160EP an output station (not shown) may be used to fill a predetermined ordering order of articles picked into one or more bag (s), tote (s) or other container (s) 160UT). As such, each of the interface stations TS of each elevator 150B1, 150B2 is configured so that when the case unit (s) is requested and picked up by the respective elevators 150B1, 150B2 to form a mixed pallet load To form a buffer for holding one or more case unit (s).

In one form, the storage and retrieval system 100 described herein is implemented by providing a storage array (RMA) with rack storage spaces 130S arranged on the racks along the passages 130A 15, block 2500). At least one transfer deck 130B communicatively connected to each of the passages 130A is provided (Fig. 25, block 2505). At least one autonomous transport vehicle or boat 110 is provided which is configured to hold at least one pick face and to traverse at least one transfer deck 130B and passages 130A, And an extendable effector or delivery arm 110PA for picking and positioning at least one pick face therefrom (Fig. 25, block 2510). The pick face transport axes (X, Y) of the storage array are connected to the passages 130A, at least one transfer deck 130B, at least one autonomous transport vehicle 110 moving thereon, and an extendable effector 110PA. And the pick faces are defined along the pick face transport axes X and Y by an inbound section 160IN of the automated storage and retrieval system and a load fill section of the automated storage and retrieval system 160UT), the in-focus sections are created with pick faces coming into the storage array, and the load-fill sections are provided with pick faces exiting the storage array to fill the load in accordance with a predetermined load- . Immediate sorting of the mixed case pick faces is performed in concert with the transport on at least one of the pick face conveying axes (X, Y), in combination with the storage racks and the autonomous transport vehicle 110, Two or more of the rack storage spaces 130S are picked from one or more of the rack storage spaces 130S and placed in one or more pick face holding locations different from one or more of the rack storage spaces 130S according to a predetermined load fill order. In one aspect, controller 120 (which is operatively connected to at least one autonomous transport vehicle as described above) manages pick face transport axes (X, Y, Z), and pick face transport axes Lt; / RTI > As described above, the plurality of pick face transport axes (X, Y, Z) are oriented in at least two directions angled relative to each other. As described above, one of the plurality of pick face transportation axes (Y) is defined by the extension of the extendable effector 100PA and includes a plurality of picks defined by the autonomous transport vehicle traversing along the picking passageway 130A The angles for the other one (X) of the face carrying axes are the different directions. In another aspect, as described above, the on-the-fly sorting is performed in coincidence with the transport on at least one axis of each of the plurality of pick face transportation axes, in combination of racks and at least one autonomous transport vehicle. In one form, the elevator 150 defines another pick face transport axis Z of the storage array. As described herein, the instant categorization of the mixed case pick faces is performed by the elevator 150 in coincidence with the conveyance on the other pick face conveyor axis, so that two of the pick faces Are picked from one or more deck layers and transferred to the load-filed section.

Referring to Figs. 21, 22A and 22B, in one aspect, the delivery of the pickface from the input section 160IN to the output section 160UT is accomplished without pickface delivery by the boat 110. Fig. 21, the conveyors 160CA and 160CB of the input and output sections 160IN and 160UT are arranged such that each elevator 150 is connected to both the input and output sections 160IN and 160UT . For example, both the conveyor 160CA1 of the input session 160IN and the conveyor 160CB1 of the output section 160UT are contributed by the elevators 150A1 and 150B1. As can be realized, each conveyor 160CA1, 160CB is configured to receive the respective layers of the common elevators 150A, 150B1 (in a similar manner as described above with respect to the shelves of the buffer and transfer stations BS, TS) The pick faces can be picked up from the single conveyors 160CA1 and 160CB by the common elevators 150A1 and 150B1 and transferred to the other conveyors 160CA1 and 160CB1 of the other layers. Here, the pick faces are substantially directly conveyed from one conveyor 160CA1, 150CB, while bypassing the boat 110 and the storage structure 130, by elevators 150A1, 150B1 160INI) to the output station 160UY1. As can be realized, in one form, the pick faces from the input station 160INI are connected to the common elevators 150A1, 150B1, 150B1, ) On the shelf of the buffer or transfer stations (BS, TS). 22A and 22B, in one aspect, the pick faces are connected to a boat 110 (not shown) through buffer lanes BL that communicatively connect the input conveyor 160A to the output conveyor 160CB And the storage structure 130, and is transferred from the input station 160IN to the output station 160UT.

Referring to Figure 27, according to aspects of the disclosed embodiments, storage spaces arranged on ladders along the picking passages are provided (Figure 27, block 1600). (Fig. 27, block 1610), wherein at least one deck layer of multilayer decks is in communication with each passageway, and the multi-layer decks and passageways are connected to a rolling surface thereby forming a rolling surface. In multiple rack layers, the racks are approached from respective rolling surfaces common to multiple rack layers (FIG. 27, block 1620), wherein the racks are located along at least one passageway in each layer of multi-layer decks. In one form, the vertical pitch between the at least two rack layers of the different passageway portions of the respective passageways is associated with another vertical pitch between at least two different rack layers of different portions of the respective passageways, And performs a plurality of picking in an ordered sequence in the path path. In one form, the vertical pitch between the at least two rack layers of the portion of each passageway is related to another vertical pitch between at least two other rack layers of another passageway portion of each passageway, The vertical space between the multi-layered decks is substantially filled with the stored articles by the pitch.

According to one or more aspects of the disclosed embodiments, an automated storage and retrieval system is provided. The automated storage and retrieval system includes at least one autonomous transport vehicle, a transfer deck forming a transport surface for the at least one autonomous transport vehicle, at least one reciprocating lift, A first pickface interface station and a second pickface interface station connected to the transmission deck and spaced apart from each other, each pickface interface station comprising: at least one autonomous transport vehicle on the transfer deck, By forming a pick-face transfer interfacing between the round-trip elevators at each pick-face interface station, pick faces are transferred at each pick-face interface station between the at least one round-trip elevator and the at least one autonomous transport vehicle , The at least one autonomous vehicle Amount is configured to pick a first pick face at the first pick face interface station and traverse the transfer deck and buffer the first pick face or at least a portion thereof to the second pick face interface station, The second pickface interface station has a plurality of pick faces buffered on a common support in ordering order of pick faces according to a predetermined case output ordering order of the mixed case pick faces.

According to one or more aspects of the disclosed embodiments, the at least one autonomous transport vehicle is configured to buffer the first pickface or at least a portion thereof to the second pickface interface station, whereby the second pickface interface station And has a plurality of pick faces buffered on a common support.

According to one or more aspects of the disclosed embodiments, at least one of the plurality of pick faces at the second pick face interface station is different from the first pick face and includes an on case unit at the first pick face.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle is configured to transmit the first pick face interface station and the second pick face interface station, At least one of the plurality of pick faces is constructed at the second face interface station.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle constructs at least one of the plurality of pick faces on the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle is adapted to transmit at least one of the plurality of pick faces to the second pick face interface station or to a buffer portion of the common support of the second pick face interface station buffer .

According to one or more aspects of the disclosed embodiments, the first pick face is at least one of the plurality of pick faces at the second pick face interface station.

According to one or more aspects of the disclosed embodiments, the automated storage and retrieval system comprises: autonomous vehicle access paths connected to the deck; And a storage array consisting of multilayer lathes and having storage racks distributed along the autonomous vehicle access passages.

In accordance with one or more aspects of the disclosed embodiments, the autonomous transport vehicle is configured to transmit at least one portion of the first pick face picked from the first pick face interface station to the second pick face interface station, As shown in FIG.

According to one or more aspects of the disclosed embodiments, the second pickface interface station forms a common pick-face transfer interface for the at least one reciprocating lift so that commonly supported pick faces are common to the at least one reciprocal lift .

According to one or more aspects of the disclosed embodiments, the transfer deck is undeterministic and has a plurality of moving lanes.

According to one or more aspects of the disclosed embodiments, an automated storage and retrieval system is provided. The automated storage and retrieval system includes at least one autonomous transport vehicle, a transfer deck forming a transport surface for the at least one autonomous transport vehicle, an unload cell and a load- at least one inbound pick face transport system disposed between the unload cell and the load fill section, at least one outbound pick face transport system disposed between the unload cell and the load fill section, A first pickface interface station and a second pickface interface station connected to each other and spaced apart from each other, each pickface interface station comprising: at least one autonomous conveying vehicle on the transfer deck and the inbound pick- The pickface delivery interface between each one of the outbound pick- By forming interfacing at each of the pickface interface stations, it is possible for each pickface interface station to pick up between the respective one of the inbound pick-up face-carrying system and the outbound pick-up face- Wherein the at least one autonomous transport vehicle picks up a first pick face at the first pick face interface station and traverses the deck and sends the first pick face interface station to the first pick face interface station Wherein at least a portion of the first pick face is configured to buffer at least a portion of the first pick face in order of the pick faces according to a predetermined case output order order of mixed case pick faces for transport to the outbound pick- The second pickface interface It is buffered in the station.

According to one or more aspects of the disclosed embodiments, at least one of the plurality of pick faces at the second pick face interface station is different from the first pick face and includes an on case unit at the first pick face.

According to one or more aspects of the disclosed embodiments,

Wherein the autonomous transport vehicle is operable to transmit at least one of the plurality of pick faces to the second pick face interface station on the fly during delivery of the first pick face between the first pick face interface station and the second pick face interface station .

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle constructs at least one of the plurality of pick faces on the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the autonomous transport vehicle is adapted to transmit at least one of the plurality of pick faces to the second pick face interface station or to a buffer portion of the common support of the second pick face interface station buffer .

According to one or more aspects of the disclosed embodiments, the first pick face is at least one of the plurality of pick faces at the second pick face interface station.

According to one or more aspects of the disclosed embodiments, the automated storage and retrieval system comprises: autonomous vehicle access paths connected to the deck; and racks distributed along the autonomous vehicle access paths, ). ≪ / RTI >

In accordance with one or more aspects of the disclosed embodiments, the autonomous transport vehicle is configured to transmit at least one portion of the first pick face picked from the first pick face interface station to the second pick face interface station, As shown in FIG.

According to one or more aspects of the disclosed embodiments, the second pickface interface station forms a common pick-face delivery interface for each of the inbound pick-a-face transport system and the outbound pick- Pick faces are commonly picked into each one of the inbound pick-plane delivery system and the outbound pick-plane delivery system.

According to one or more aspects of the disclosed embodiments, the transfer deck is undeterministic and has a plurality of moving lanes.

According to one or more aspects of the disclosed embodiments, an automated storage and retrieval method is provided. The method comprises the steps of: picking a first pick face from a first shelf of a first pick face handoff station, with the autonomous transport vehicle, picking up a second pick face from the first shelf of the first pick face hand- The method of claim 1, further comprising: buffering a first pick face; forming a second pick face on the second shelf, wherein the second pick face is different from the first pick face, Wherein said first pick face and said second pick face have at least one case in common, and wherein said first pick face and said second pick face are in common with said reciprocating lift, Picking up the face, wherein the reciprocating lift is different from another reciprocating lift which places the first pick face on the first shelf.

According to one or more aspects of the disclosed embodiments, the method further comprises, with the autonomous transport vehicle, transferring the second pick from the first shelf to the second shelf while the first pick face is being transported between the first shelf and the second shelf, And forming a face.

According to one or more aspects of the disclosed embodiments, the method includes forming the second pick face on the autonomous transport vehicle with the autonomous transport vehicle.

According to one or more aspects of the disclosed embodiments, the method includes forming the second pick face with the autonomous transport vehicle on the second shelf or in a buffer portion of the second shelf.

According to one or more aspects of the disclosed embodiments, the method further comprises, with the autonomous transport vehicle, prior to transporting at least a portion of the first pick face picked from the first shelf to the second shelf, storage rack.

According to one or more aspects of the disclosed embodiments, the second shelf forms a common pick-face transfer interface for the reciprocating lift, the method comprising collectively picking commonly supported pick faces to the reciprocating lift do.

According to one or more aspects of the disclosed embodiments, an automated storage and retrieval system is provided. Wherein the automated storage and retrieval system comprises a storage array having rack storage spaces arranged on a rack along passages, at least one transfer deck connectably connectable with each of the passages, at least one pick face, And at least one autonomous transport vehicle configured to traverse the transport decks and passages of the at least one picky face and having an extendable effector for picking and positioning the at least one pick face into and from the rack storage spaces, The passages, the at least one transfer deck, the at least one autonomous transport vehicle transverse thereto, and the extendable effector form pick face transport axes of the storage array, and pick faces The inbound section of the automated storage and retrieval system, Wherein the pickle sections are transported between a load fill section of a charge storage and retrieval system in which the pick faces entering into the storage array are created and wherein the load fill section is loaded with load Wherein the racks and the autonomous conveying vehicle are arranged such that the racks and the autonomous conveying vehicle are combined to form a mix with the transport on at least one of the pick face conveying axes, Wherein at least one of the at least one pick faces is picked from one or more of the rack storage spaces and is configured to perform on the fly sortation in accordance with a predetermined load fill ordering At least one pick face holding different than one or more of the rack storage spaces Places.

According to one or more aspects of the disclosed embodiments, the automated storage and retrieval system includes a controller operatively connected to the at least one autonomous transport vehicle and configured to manage the pick face transportation axes, Lt; / RTI > includes a plurality of transport axes.

According to one or more aspects of the disclosed embodiments, the plurality of pick face transport axes are oriented in at least two directions angled relative to one another.

According to one or more aspects of the disclosed embodiments, one of the plurality of pick face transportation axes formed by the extension of the extensible effector includes a plurality of pick face transportation axes formed by the crossing of the autonomous transportation vehicle along the path, Which are angled relative to the other one of the conveying axes.

According to one or more aspects of the disclosed embodiments, the racks and the at least one autonomous transport vehicle are combined to provide instant classification of mixed case pick faces in coincidence with transport on at least one axis of each of the plurality of pick face transport axes .

According to one or more aspects of the disclosed embodiments, the at least one transfer deck comprises one or more transfer decks disposed in different deck layers.

According to one or more aspects of the disclosed embodiments, the automated storage and retrieval system further comprises an elevator communicatively connected to each of the decks in different deck layers, the elevator being operable to move the pick faces between different deck layers And form another pick-up face carrying axis of the storage array.

According to one or more aspects of the disclosed embodiments, the elevator is configured to perform on-the-fly sorting of mixed case pick faces in coincidence with transport on other pick face transportation axes, such that two or more of the pick faces are in contact with one or more deck layers And transported to the rod fill section in accordance with a predetermined load fill order.

According to one or more aspects of the disclosed embodiments, the instant classification is performed in coincidence with the transport on each of the plurality of pick-plane transport axes and on at least one of each of the other transport axes of the elevator.

According to one or more aspects of the disclosed embodiments, an automated storage and retrieval system is provided. Wherein the automated storage and retrieval system comprises a storage array having rack storage spaces arranged on a rack along passages, at least one transfer deck connectably connectable with each of the passages, at least one pick face, At least one autonomous transport vehicle having an extendable effector for traversing the transport decks and passageways of the at least one pick face and for picking and positioning the at least one pick face into and from the rack storage spaces, And at least one elevator configured to communicate the pick faces to and from the at least one transfer deck, the at least one transfer deck, the at least one transfer deck, One autonomous vehicle, the extensible effector, and the at least < RTI ID = 0.0 > Wherein lifts of the automated storage and retrieval system form pick face transport axes of the storage array and pick faces along the transport axes are connected to an inbound section of the automated storage and retrieval system and a load fill section section of the storage array in which the pick faces coming into the storage array are generated and the pick fill sections are provided with pick faces exiting the storage array to fill the load in accordance with a predetermined load fill order, Wherein the racks and the autonomous conveying vehicle are configured such that the racks and the autonomous conveying vehicle are combined to perform on the fly sorting of the mixed case faces on at least one of the pick face conveying axes Whereby at least two of the at least one pick face Wherein the at least one elevator is located at one or more pick-and-place holding locations that are picked from one or more of the rack storage spaces and are different from one or more of the rack storage spaces according to a predetermined load- Wherein at least two of the pick faces are picked from a different one of the at least one transfer deck, and the predetermined load Fill order, in accordance with a fill order, and the instant classification is performed in coincidence with the transport on at least one axis of each of the pick face transport axes.

According to one or more aspects of the disclosed embodiments, the automated storage and retrieval system includes a controller operatively connected to the at least one autonomous transport vehicle and the at least one elevator and configured to manage the pick face transportation axes .

According to one or more aspects of the disclosed embodiments, the pick face transport axes are oriented in at least two directions angled relative to one another.

In accordance with one or more aspects of the disclosed embodiments, one of the pick face transportation axes formed by the extension of the extendable effector is configured to receive one of the pick face transportation axes formed by the crossing of the autonomous transport vehicle along the path It is a different direction that makes an angle to one.

According to one or more aspects of the disclosed embodiments, the racks and the at least one autonomous transport vehicle are combined to perform on-the-fly sorting in coincidence with transport on at least one axis of the pick face transportation axes.

According to one or more aspects of the disclosed embodiments, the at least one transfer deck comprises one or more transfer decks disposed in different deck layers, the at least one elevator being configured to carry pick faces between different deck layers.

According to one or more aspects of the disclosed embodiments, a method for automated storage and retrieval is provided. The method comprises the steps of providing a storage array having rack storage spaces arranged on a rack along passages, providing at least one transfer deck communicatively coupled to each of the passages, At least one transport deck and at least one transporting deck having at least one transporting deck and an extendable effector for picking and positioning the at least one picking face into and from the rack storage spaces, Forming pick face transport axes of the storage array with the passages, the at least one transfer deck, the at least one autonomous transport vehicle, and the extendable effector, The inbound section of the automated storage and retrieval system along the axes, Wherein the pickle sections are transported between a load fill section of the automated storage and retrieval system in which the pick faces entering into the storage array are created and the load fill sections are loaded with load wherein the pick face transport axes are arranged such that outgoing pick faces from the storage array are filled to fill the at least one of the pick face transport axes, and in combination with the racks and the autonomous transport vehicle, Performing on the fly sortation of the coincidentally mixed case faces, wherein at least two of the at least one pick faces are picked from one or more of the rack storage spaces and the predetermined load fill order And at least one of the rack storage spaces And placing at least one pick face holding locations of the transfer deck.

According to one or more aspects of the disclosed embodiments, the method comprises managing the pick face conveying axes with a controller operatively connected to the at least one autonomous conveying vehicle, the pick face conveying axes comprising a plurality Lt; / RTI >

According to one or more aspects of the disclosed embodiments, the plurality of pick face transport axes are oriented in at least two directions angled relative to one another.

According to one or more aspects of the disclosed embodiments, one of the plurality of pick face transportation axes formed by the extension of the extensible effector includes a plurality of pick face transportation axes formed by the crossing of the autonomous transportation vehicle along the path, Which are angled relative to the other one of the conveying axes.

According to one or more aspects of the disclosed embodiments, the method further comprises the step of, in combination with the racks and the at least one autonomous transport vehicle, performing instant classification by matching with transport on at least one axis of each of the plurality of pick- .

According to one or more aspects of the disclosed embodiments, the method further comprises the steps of: providing an elevator that communicatively connects to each of the decks in different deck layers and conveys the pick faces between different deck layers, And forming an axis.

According to one or more aspects of the disclosed embodiments, the method includes performing, on the elevator, an instant classification of mixed case pick faces in coincidence with transport on another pick face transportation axis, Are picked from one or more deck layers and conveyed to the load fill section in accordance with a predetermined load fill order.

According to one or more aspects of the disclosed embodiments, the method comprises performing an instant classification in coincidence with the transport on each of the plurality of pick face transport axes and on at least one of the other transport axles of the elevator.

It should be understood that the foregoing description is only illustrative of the forms of the disclosed embodiments. Various alternatives and modifications may be devised by those skilled in the art without departing from the embodiments of the disclosed embodiments. Accordingly, the forms of the disclosed embodiments are intended to cover all alternatives, modifications and variations that fall within the scope of the appended claims. Also, the mere fact that different features are recited in different dependent or independent claims from each other does not indicate that a combination of those features can not be used to advantage, so long as combinations of these features are within the scope of the present invention.

Claims (49)

As an automated storage and retrieval system:
At least one autonomous vehicle;
A transfer deck forming a transport surface for the at least one autonomous transport vehicle;
At least one reciprocating lift; And
A first pickface interface station and a second pickface interface station connected to the transfer deck and spaced apart from each other,
Each pickface interface station establishing a pick-to-face transfer interfacing between the at least one autonomous transport vehicle on the transfer deck and the at least one round-trip elevator at each pick-face interface station, At the interface station, a pick face is transferred between the at least one reciprocating lift and the at least one autonomous transporting vehicle,
Wherein the at least one autonomous transport vehicle picks up a first pick face at the first pick face interface station and traverses the transport deck and transmits the first pick face or at least a portion thereof to the second pick face interface station Wherein the second pickface interface station is configured to automatically store and retrieve a plurality of pick faces that are buffered on a common support in ordering order of pick faces according to a predetermined case output ordering order of the mixed case pick faces, system. The method according to claim 1,
Wherein at least one of the plurality of pick faces at the second pick face interface station is different from the first pick face and includes an on case unit at the first pick face. The method according to claim 1,
Wherein the autonomous transport vehicle is operable to transmit to the second pickface interface station on the fly during the transport of the first pickface between the first pickface interface station and the second pickface interface station, And establishes at least one of the paces. The method of claim 3,
Wherein the autonomous transport vehicle builds at least one of the plurality of pick faces on the autonomous transport vehicle. The method of claim 3,
Wherein the autonomous transport vehicle builds at least one of the plurality of pick faces at the second pick face interface station or at a buffer portion of the common support of the second pick face interface station buffer. The method according to claim 1,
Wherein the first pick face is at least one of the plurality of pick faces at the second pick face interface station. The method according to claim 1,
Autonomous vehicle access paths connected to the deck; And
Further comprising: a storage array comprising multilayered shelves and having storage racks distributed along the autonomous vehicle access paths. 8. The method of claim 7,
Wherein the autonomous transport vehicle is configured to be disposed on a storage rack of the storage array before at least another portion of the first pickface picked from the first pickface interface station is transported to the second pickface interface station, Automated storage and retrieval system. The method according to claim 1,
Wherein the second pick face interface station forms a common pick face transfer interface for the at least one reciprocating lift so that commonly supported pick faces are commonly picked by the at least one reciprocating lift. The method according to claim 1,
Wherein the transfer deck is undeterministic and has a plurality of moving lanes. As an automated storage and retrieval system:
At least one autonomous vehicle;
A transfer deck forming a transport surface for the at least one autonomous transport vehicle;
At least one inbound pick face transport system disposed between an unload cell and a load fill section;
At least one outbound pick-up face delivery system disposed between the unload cell and the load fill section;
A first pickface interface station and a second pickface interface station connected to the transfer deck and spaced apart from each other,
Each pickface interface station receives pickface transfer interfacing between the at least one autonomous transport vehicle on the transfer deck and the respective one of the inbound pick face transport system and the outbound pick face transport system, Face interface station, a pick face is transmitted between each of the inbound pick-up face-carrying system and the out-bound pick-up face-carrying system and the at least one autonomous conveying vehicle at each pick-face interface station,
Wherein the at least one autonomous transport vehicle picks up a first pickface at the first pickface interface station and traverses the deck and buffers the first pickface or at least a portion thereof to the second pickface interface station Wherein at least a portion of the first pick face is arranged in order of the pick faces according to a predetermined case output ordering order of mixed case pick faces for transport to the outbound pick- An automated storage and retrieval system that is buffered on the station. 12. The method of claim 11,
Wherein at least one of the plurality of pick faces at the second pick face interface station is different from the first pick face and includes an on case unit at the first pick face. 12. The method of claim 11,
Wherein the autonomous transport vehicle is operable to transmit at least one of the plurality of pick faces to the second pick face interface station on the fly during delivery of the first pick face between the first pick face interface station and the second pick face interface station , Automated storage and retrieval system. 14. The method of claim 13,
Wherein the autonomous transport vehicle builds at least one of the plurality of pick faces on the autonomous transport vehicle. 14. The method of claim 13,
Wherein the autonomous transport vehicle builds at least one of the plurality of pick faces at the second pick face interface station or at a buffer portion of the common support of the second pick face interface station buffer. 12. The method of claim 11,
Wherein the first pick face is at least one of the plurality of pick faces at the second pick face interface station. 12. The method of claim 11,
Autonomous vehicle access paths connected to the deck; And
Further comprising: a storage array comprising multilayered shelves and having storage racks distributed along the autonomous vehicle access paths. 18. The method of claim 17,
Wherein the autonomous transport vehicle is configured to be disposed on a storage rack of the storage array before at least another portion of the first pickface picked from the first pickface interface station is transported to the second pickface interface station, Automated storage and retrieval system. 12. The method of claim 11,
The second pickface interface station forms a common pick face delivery interface for each of the inbound pick-a-face delivery system and the outbound pick-up face delivery system, whereby commonly supported pick faces are connected to the inbound pick- And wherein each of the outbound pick-up systems is commonly picked by a respective one of the outbound pick-up systems. 12. The method of claim 11,
Wherein the transfer deck is undeterministic and has a plurality of moving lanes. Picking a first pick face from a first shelf of a first pick face handoff station with an autonomous transport vehicle;
Buffering the first pick face on a second shelf of a second pick face handoff station with the autonomous transport vehicle;
Forming a second pick face on the second shelf, wherein the second pick face is different from the first pick face and is arranged in an ordered sequence corresponding to a predetermined case output ordering order of the mixed cases, Wherein the first pick face and the second pick face have at least one case in common; And
Picking the second pick face from the second shelf with a reciprocating elevator, wherein the reciprocating elevator is different from another reciprocating elevator placing the first pick face on the first shelf; . 22. The method of claim 21,
Further comprising, with the autonomous transport vehicle, forming the second pick face on the second shelf immediately during transport of the first pick face between the first shelf and the second shelf. 23. The method of claim 22,
Further comprising, with the autonomous transport vehicle, forming the second pick face on the autonomous transport vehicle, 23. The method of claim 22,
Further comprising forming the second pick face on the second shelf or in a buffer portion of the second shelf with the autonomous transport vehicle. 22. The method of claim 21,
Further comprising the step of, with the autonomous transport vehicle, placing at least a portion of the first pick face picked from the first shelf on a storage rack of the storage array before being transported to the second shelf . 22. The method of claim 21,
Wherein the second shelf forms a common pick-face transfer interface for the reciprocating lift, the method further comprising: collectively picking commonly supported pick faces to the reciprocating lift. As an automated storage and retrieval system:
A storage array having rack storage spaces arranged on a rack along the passages;
At least one transfer deck communicatively coupled to each of said passages;
An extensible effector configured to hold at least one pick face and traverse the at least one transport deck and passageways for picking and positioning the at least one pick face into and from the rack storage spaces, At least one autonomous transport vehicle having at least one self-
The passages, the at least one transfer deck, the at least one autonomous transport vehicle transverse thereto, and the extendable effector form pick face transport axes of the storage array, and pick faces The method of claim 1, wherein the inbound section of the automated storage and retrieval system is transported between an inbound section of the automated storage and retrieval system and a load fill section of the automated storage and retrieval system, The load fill section is provided with outgoing pick faces from the storage array to fill the load in accordance with a predetermined load fill order,
The racks and the autonomous transport vehicle are configured such that the racks and the autonomous transport vehicle are combined to perform on the fly sortation of the mixed case pick faces in conformity with the transport on at least one of the pick face transport axes Wherein at least two of the at least one pick faces are picked from one or more of the rack storage spaces and one or more pick face holds different from one or more of the rack storage spaces in accordance with a predetermined load- Automated storage and retrieval system. 28. The method of claim 27,
Further comprising a controller operatively connected to the at least one autonomous transport vehicle and configured to manage the pick face transport axes, wherein the pick face transport axes include a plurality of transport axes. 29. The method of claim 28,
Wherein the plurality of pick face transport axes are oriented in at least two directions angled relative to one another. 29. The method of claim 28,
One of the plurality of pick face transportation axes formed by the extension of the extendable effector is arranged to be angled with respect to the other one of the plurality of pick face transportation axes formed by the crossing of the autonomous transport vehicle along the path An automated storage and retrieval system in different orientations. 29. The method of claim 28,
Wherein the racks and the at least one autonomous conveying vehicle are combined to perform instant classification of mixed case pick faces in conformity with carriage on at least one axis of each of the plurality of pick face conveying axes. 28. The method of claim 27,
Wherein the at least one transfer deck comprises at least one transfer deck disposed in different deck layers. 33. The method of claim 32,
Further comprising an elevator communicatively connected to each of the decks in different deck layers, the elevator being configured to carry the pick faces between different deck layers and to form another pick face conveying axis of the storage array, And withdrawal system. 34. The method of claim 33,
Wherein the elevator is configured to perform on-the-fly sorting of mixed case pick faces in concert with transportation on another pick face transportation axis such that two or more of the pick faces are picked from one or more deck layers, To the load-fill section. 35. The method of claim 34,
Wherein the instant classification is performed in coincidence with the transport on each of the plurality of pick face transport axes and on at least one of each of the other transport axes of the elevator. As an automated storage and retrieval system:
A storage array having rack storage spaces arranged on a rack along the passages;
At least one transfer deck communicatively coupled to each of said passages;
An extensible effector configured to hold at least one pick face and traverse the at least one transport deck and passageways for picking and positioning the at least one pick face into and from the rack storage spaces, At least one autonomous transport vehicle having at least one autonomous vehicle;
At least one elevator connected communicatively to each of the transfer decks and configured to carry the pick faces to and from the at least one transfer deck,
Wherein said passages, said at least one transfer deck, said at least one autonomous conveying vehicle transverse thereto, said extendable effector and said at least one elevator form pick face transport axes of said storage array, The pick faces are carried between an inbound section of the automated storage and retrieval system and a load fill section of the automated storage and retrieval system along with the pick face of the storage array, Wherein the load fill sections are provided with outgoing pick faces from the storage array to fill a load in accordance with a predetermined load fill order,
Wherein the racks and the autonomous conveying vehicle are configured such that the racks and the autonomous conveying vehicle are combined to perform on the fly sorting of mixed case pick faces on at least one of the pick face conveying axes, Wherein at least two of the at least one pick faces are picked from one or more of the rack storage spaces and placed in one or more pick face holding locations different from one or more of the rack storage spaces in accordance with a predetermined load fill ordering order And,
Wherein the at least one elevator is configured to perform instant classification of mixed case pick faces on the other of the at least one pick face conveying axes such that two or more of the pick faces are positioned within the at least one transfer deck Picked from a different one and carried to the load-fill section according to a predetermined load-fill ordering sequence, wherein the instant classification is performed in coincidence with the transport on at least one axis of each of the pick-face carrying axes. 37. The method of claim 36,
Further comprising a controller operatively connected to the at least one autonomous transport vehicle and the at least one elevator and configured to manage the pick face transport axes. 39. The method of claim 37,
Wherein the pick face transport axes are oriented in at least two directions angled relative to one another. 39. The method of claim 37,
Wherein one of said pick face transportation axes formed by the extension of said extendible effector has a different direction that is angled relative to the other of said pick face transport axes formed by the traversal of said autonomous transport vehicle along said path, Automated storage and retrieval system. 39. The method of claim 37,
Wherein said racks and said at least one autonomous conveying vehicle are combined to perform an instant classification in coincidence with the transport on at least one of said pick-plane carrying axes. 37. The method of claim 36,
Wherein the at least one transfer deck comprises one or more transfer decks disposed in different deck layers, wherein the at least one elevator is configured to carry pick faces between different deck layers. Providing a storage array having rack storage spaces arranged on a rack along passages;
Providing at least one transfer deck communicatively coupled to each of the passages;
An extensible effector configured to hold at least one pick face and traverse the at least one transport deck and passageways for picking and positioning the at least one pick face into and from the rack storage spaces, Providing at least one autonomous transport vehicle having a plurality of autonomous vehicles;
Forming pick face transport axes of the storage array with the passages, the at least one transfer deck, the at least one autonomous transport vehicle, and the extensible effector, wherein the pick faces are moved along the transport axes, The method of claim 1, further comprising: transferring between an inbound section of a storage and retrieval system and a load fill section of the automated storage and retrieval system, wherein the inbound section generates pick faces entering the storage array, The sections comprising pick face transportation axes in which pick faces out of the storage array are arranged to fill a load in accordance with a predetermined load fill order; And
Performing on the fly sortation of mixed case pick faces in coincidence with transport on at least one of the pick face transportation axes with the combination of the racks and the autonomous conveying vehicle, Wherein at least two of the pick faces are picked from one or more of the rack storage spaces and one or more pick face holding locations of the at least one transfer deck that are different from one or more of the rack storage spaces in accordance with a predetermined load- The method comprising the steps of: 43. The method of claim 42,
Further comprising: managing the pick face transport axes with a controller operatively connected to the at least one autonomous transport vehicle, wherein the pick face transport axes include a plurality of transport axes. 44. The method of claim 43,
Wherein the plurality of pick face transport axes are oriented in at least two directions angled relative to one another. 44. The method of claim 43,
One of the plurality of pick face transportation axes formed by the extension of the extendable effector is arranged to be angled with respect to the other one of the plurality of pick face transportation axes formed by the crossing of the autonomous transport vehicle along the path Different directions. 44. The method of claim 43,
Further comprising performing, in a combination of said racks and said at least one autonomous transport vehicle, on-the-fly sorting in coincidence with transport on at least one axis of each of said plurality of pick-plane transport axes. 43. The method of claim 42,
Further comprising the step of forming another pick face transport axis of said storage array with an elevator communicatively connected to each of said decks in different deck layers and carrying said pick faces between different deck layers. 49. The method of claim 47,
Further comprising the step of performing, on the elevator, performing instant classification of the mixed case pick faces in agreement with the conveyance on the other pick face transportation axes, whereby two or more of the pick faces are picked from the one or more deck layers, To a load-fill section in accordance with a load fill ordering order. 49. The method of claim 48,
Further comprising the step of performing on-the-fly sorting in coincidence with the transport on each of the plurality of pick face transport axes and on at least one of each of the other transport axes of the elevator.

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